(Since the OP doesn't know how to depress a cubic.)
Given the general cubic $Ax^3+Bx^2+Cx+D=0$, divide by $A$ to get the simpler,
$$x^3+ax^2+bx+c = 0\tag1$$
Define the important values $p,q$ as,
$$p = \frac{1}{3}(-a^2+3b)$$
$$q = \frac{1}{27}(2a^3-9ab+27c)$$
Case $1$. When $4p^3+27q^2>0$
Then $(1)$ has only one real root given by,
$$x_1 = -\frac{a}{3}+z_1^{1/3}+z_2^{1/3}\tag2$$
where the $z_i$ are the two roots of the quadratic,
$$z^2+qz-\frac{p^3}{27}=0$$
To find the two complex roots, use a complex cube root of unity $\zeta = e^{2\pi\, i/3}$,
$$x_k = -\frac{a}{3}+\color{brown}{z_1^{1/3}}\zeta^k+\frac{-p}{3}\frac{1}{\color{brown}{z_1^{1/3}}\zeta^k}\quad \text{for}\; k = 0,1,2$$
and $k=0$ also yields the real root.
Case $2$. When $4p^3+27q^2<0$
Then $(1)$ has three real roots given by,
$$x_k = -\frac{a}{3}+2\sqrt{\frac{-p}{3}}\cos(\theta_k)\tag3$$
where,
$$\theta_k = \frac{1}{3}\arccos\left(\frac{3q}{2p}\sqrt{\frac{3}{-p}}\right)-\frac{2\pi\,k}{3},\quad \text{for}\; k = 0,1,2$$
Your difficulty was with Case $2$ when you got a minus sign within the square root. Using trigonometric functions bypasses that. (Note that $p$ is always negative for this case.)
I have researched the general formula for solving these equations however, I have negative numbers in the square root..
– Moolan Feb 24 '16 at 23:09