A dangerous fugitive was killed in a shootout with police on Friday morning, bringing a harrowing end to a six-day-long manhunt.

NBC News reports that 62-year-old Floyd Ray Cook was shot to death, after being tracked down in the woods by police using thermal vision from a helicopter. Two state troopers and a U.S. Marshall located the fugitive on an embankment seven miles south of Burkesville, Kentucky.

"Cook had a handgun and gunfire was exchanged," Kentucky State Police Trooper Billy Gregory said. "Cook was wounded and was pronounced dead at the scene. No officers were injured."

The convicted rapist with a lengthy rap sheet of other violent crimes had authorities on high alert after the attempted murder of a police officer.

Cook was pulled over by officer Ahscari Valencia in Algood, Tennessee on Saturday, Oct. 24. He had a warrant for his arrest after he failed to appear in court for a meth charge. The fugitive shot Valencia in her abdomen, striking her bulletproof vest. Cook then fled, later engaging in a shootout with a state trooper before making his escape.

Cook was a convicted felon who had been in and out of prison for much of his life. According to The Washington Post, he was first sentenced to life at Eddyville State Penitentiary for the first-degree rape of a child younger than 12 years old in 1971. In 1978, Cook was released on parole, but was involved in a number of violent crimes, before he was ultimately returned to Eddyville on a 100-year sentence in 1987. Cook escaped prison in 1988, but was apprehended and had 20 years added to his sentence. Despite this, he somehow made parole again in 2009.

Two suspected associates of Cook, 35-year-old Katy McCarty and 50-year-old Troy Wayne, were also caught and detained earlier in the week.

"I can speak entirely for the community that we are relieved the manhunt has finally come to an end," Cumberland County judge John Phelps Jr. said. "Everyone has been on edge, not knowing where he might be, not knowing where he was at. He seemed to be a very elusive character."

"We're thankful that it's over. We're ready to move on," he added.