FALCON HEIGHTS, MINNESOTA — Newly released dashcam footage shows the seconds-long encounter that led to the death of Philando Castile at the hands of a Minnesota police officer.

Castile was pulled over in Falcon Heights in July of 2016. Officer Jeronimo Yanez cited a traffic violation, but radioed to a colleague to say Castile matched the description of one robbery suspect, reports the New York Times.

Yanez walks over to the white Oldsmobile, which has Castile in the driver’s seat, fiance Diamond Reynolds in the passenger’s seat, and Reynold’s young daughter in the back. He asks Castile for his license and insurance after explaining that he has a broken tail light. Castile hands over his insurance card, then informs the officer that he has a firearm.

Officer Yanez tells him not to pull out the gun, even as he reaches for his own weapon. Castile assures the officer that he is not pulling out the gun, but is soon shot seven times.

The 32-year-old eventually died from his injuries. His girlfriend livestreamed the gruesome aftermath to Facebook, where it went viral.

The police officer who shot him was charged with second degree manslaughter and reckless discharge of a firearm, but has since been acquitted of all charges.