() Newly released courtroom audio reveals Travis Decker, the Washington man accused of killing his three daughters, lost overnight custody prior to their deaths over concerns the girls were sleeping in an armory under his watch.

Decker insisted he took them to safe, paid campsites, according to courtroom audio from September.

“Every time I’ve had the girls, we have been in campsites and national forests and paid campsites that have campers. We’ve never done anything that was unsafe or anything I wouldn’t want to put myself in,” Decker said in the audio.

A former Army soldier, Decker is homeless and would sleep in his vehicle, motels and campgrounds, according to police.

“I understand that my current position when I’m by myself isn’t ideal, but my daughters aren’t a part of that,” Decker continued. “I only get to see them over the weekends, and camping is something that the four of us have done since the three of them were in diapers.”

But the judge wasn’t convinced, resulting in his custody agreement shifting to visits every other weekend, during the day.

3 sisters found dead after visit with father Travis Decker

It was during one of those custody visits that Decker is accused of kidnapping and killing his three daughters, who were 5, 8 and 9 years old. Their mother reported the girls missing on May 30 after Decker failed to return them from a planned visitation that day.

Police believe the girls died from from asphyxiation. They were found near Decker’s vehicle at a campground site with their wrists zip-tied, according to court documents.

Decker is wanted for three counts of first-degree murder and first-degree kidnapping.

Travis Decker, former Army soldier, is considered dangerous

Decker, 32, joined the Army in 2013 and transferred to the Washington National Guard in 2021, according to a spokesperson with the Washington Military Department.

He was a full-time member of the National Guard until he reportedly switched to part-time around 2023 to 2024. Due to his extensive training, police have warned Decker is considered dangerous, though they don’t know if he is armed.

Decker is described as 5 feet, 8 inches tall and 190 pounds with black hair and brown eyes. He was last seen wearing a light-colored shirt and dark shorts.

“Due to safety concerns, do not attempt to contact or approach Decker,” police said.

Watch: Last sighting of Travis Decker before daughters found

A video shared by the Chelan County Sheriff’s Office in Washington shows Decker on the day he picked up his daughters in Wenatchee, which is about 150 miles east of Seattle. The girls were found dead three days later.

If you believe you see Decker, call 911 and do not talk to or approach him, authorities warned. The agency has a tip line set up at 509-667-6845, as well as online.

‘s Sierra Campbell and Jeff Arnold contributed to this report.