A Santa Rosa man with three prior convictions for driving under the influence pleaded guilty Friday to second-degree murder in the death of a pedestrian and his dog.

Andrew Michael Tungseth, 35, had a variety of drugs in his system when he struck and killed yoga instructor Victor Buxbaum on Stony Point Road just north of Todd Road on July 10, 2013, authorities said. Buxbaum, 52, and his dog both died at the scene.

At the time, Tungseth had numerous drugs in his system including alprazolam, oxycodone, oxymorphone, morphine and marijuana, the Sonoma County District Attorney’s Office reported.

Tungseth had been warned in previous court appearances that if he continued to drive under the influence of drugs or alcohol and a death resulted, he could be charged with murder, prosecutors said.

Tungseth is set to be sentenced March 18. He faces 15 years to life in prison, the District Attorney’s Office said.