HILLSBOROUGH COUNTY, Fla. — An attempted warrant arrest late Tuesday ended in the fatal shooting of a suspect by deputies.

Thie Hillsborough Hillsborough County Sheriff's Office says it started just after 10 p.m. in the parking lot of a McDonald's at 11007 Bloomingdale Avenue in Riverview. 

On Wednesday, the agency released body cam video that captured the moments leading up to the bullets being fired.

According to authorities, 27-year-old Dylan Ray Scott was in a pickup truck when deputies approached him. 

The video shows a deputy approach the truck, seconds before the truck peeled out, speeding over a curb and crashing into a minivan on Bloomingdale Avenue.

The deputy ran to the accident scene, drew his gun and commanded Scott to surrender.

"Show me your hands right now," the deputy can be heard saying on the video. "Show me your hands. He's got a gun." 

Three other deputies arrived on the scene. HCSO says Scott was wanted for grand theft and resisting arrest warrants. They pleaded with Scott to surrender peacefully.

"We don't take anything personally. I do not want to shoot you, but if you don't show me your hands that's what's going to happen," one deputy said. "Please don't make me do this...I know you're hurting right now. We'll get you help. Put your hands up." 

Authorities said Scott told deputies he had a gun, and that's confirmed on the video.

"Where's the gun at?" asks the deputy.

"It's in my waistband," Scott responds.

"Ok, don't reach for it," said the deputy.

The deputies begged and pleaded with Scott for three-and-a-half minutes before they said he motioned for a gun. All four deputies opened fire. On the body cam you can hear a deputy is upset about the outcome.

But Sheriff Chronsiter said the deputies did a textbook job of trying to get Scott to surrender.

"There is no perfect outcome in situations like this, but I am thankful that none of our deputies were hurt," he said. "And that we were able to keep innocent citizens on the roadway safe as this situation unfolded," Chronister said.

Scott was transported to Tampa General Hospital where he died from his injuries.

Back in July, Scott's mom told deputies he left a note in her home stating that he wanted to be killed in a suicide by cop.

According to the sheriff's office, the deputies involved in the shooting are Sergeant Michael Hannaford, Corporal Steven Schneider, Deputy Timothy Miskell, and Deputy Devin Wooden. As is standard protocol, all four deputies have been placed on administrative leave during this investigation, which is being conducted by the Florida Department of Law Enforcement.

The minivan driver was transported to the hospital for complaints of chest pain following the accident.