  We describe our implementation of a global-parameter optimizer and Square
Root Information Filter (SRIF) into the asteroid-modelling software SHAPE. We
compare the performance of our new optimizer with that of the existing
sequential optimizer when operating on various forms of simulated data and
actual asteroid radar data. In all cases, the new implementation performs
substantially better than its predecessor: it converges faster, produces shape
models that are more accurate, and solves for spin axis orientations more
reliably. We discuss potential future changes to improve SHAPE's fitting speed
and accuracy.
