Daniel John Lyons, 34, was released from the hospital Saturday afternoon after surviving a plunge off Rim Rock Drive in the Colorado National Monument near Grand Junction. Shortly after his release, he was booked into the Mesa County jail on sexual assault charges.

According to Lyons' warrant, he is accused of sexually assaulting a 4-year-old girl and several other related felony charges, including sexual assault on a child with a pattern of abuse.

Lyons drove off a cliff in his van about six miles from the east entrance of Colorado National Monument on Wednesday. Monument Superintendent Joan Anzelmo said officials believe Lyons was trying to kill himself.