BRADFORD COUNTY, Fla. -- The Bradford County Sheriff's Office released video on Thursday from a high-speed chase that had a violent ending.

In February, officers chased robbery suspect 46-year-old James Estes through two counties. The chase began after a second robbery, and it involved dozens of officers from multiple agencies.

One of those involved was Bradford County Sheriff Gordon Smith, who was seen on the dashboard camera of another officer trying to get out of the way of Estes' vehicle. The sheriff even shot at the suspect as the vehicle swerved toward him.

For 17 minutes, deputies chased Estes in his Geo Tracker through Bradford and Alachua counties, and down state Road 16. When his path was blocked, Estes cut through a gas station parking lot, deputies siad.

Officials said Estes put lives in danger -- both police and the public -- as he sped down U.S. 301. At several points, the dashboard camera video shows the suspect cutting off law enforcement vehicles that were trying to pass him.

At one point, Estes veered off U.S. 301 onto County Road 225 toward Alachua County, and two patrol cars bumped each other.

Moments later, Estes cut off another car and gunshots were fired.

Once inside Alachua County, an officer fired again. Estes was hit in the head. The injured suspect tapped his brake pedal and then lost control of the vehicle. The vehicle flew into a ditch and flipped, catapulting Estes out.

Officers surround Estes' vehicle but soon realized the suspect was not going to make it out alive. Estes died at the scene.

Officials said they had no choice but to open fire on the fleeing suspect because he not only tried to run over the sheriff and another officer but also because he posed a threat to the public.

Two grand juries examined the fatal chase. Both agreed that although some policy needed to be updated the shooting was justified.