New footage released by authorities this week shows the moments leading up to a police-involved shooting in Passaic County.

The police dashcam video shows a high-speech chase that ended in a Bloomingdale cul-de-sac last month.

Offices said that speeds in the chase reached up to 80 mph. One officer is heard screaming that the driver almost hit him. Multiple gunshots can be heard once the chase ended.

Police say that driver Michael Rivera was wanted in connection with a robbery. The officers fired over 12 shots at him during the altercation. Rivera died at the hospital.

The New Jersey Office of the Attorney General is investigating.