Chilling audio transmissions have revealed the final panicked moments on board a doomed Learjet 60, seconds before it plunged more than 30,000 feet and crashed in a fiery explosion which killed all nine on board.

In the transmission to flight controllers, a clearly panicked female voice can be heard exclaiming “We’re going to die” after telling them how the aircraft was “in an overspeed condition descending 20,000 feet per minute”.

“Holy f--- we’re out of time,” the pilot screams.

Seconds later the business jet, which was set to fly from Austin-Bergstrom International Airport in Texas to the Bahamas, crashed into a South Florida neighbourhood Sunday, erupting into a giant fireball that appeared to just miss homes near a busy roadway.

Everyone on board was killed, the nation’s transportation secretary said.

The frenzied final messages from the doomed aircraft came just minutes after the pilot calmly reported ice accumulating on the jet and turbulence that was jolting it by as much as 700 feet, according to air traffic control recordings captured by LiveATC.net.

“We have light, clear ice that is manageable and moderate turbulence,” the pilot told controllers.

But the two-minute audio revealed a rapidly deteriorating situation, with the pilot declaring an emergency as the aircraft began losing altitude at an alarming rate.

“We’re descending 8,000 - mayday, mayday - we’re descending 10,000 feet per minute,” the pilot radioed.

“We are in an overspeed condition descending 20,000 feet per minute,” the pilot radioed, before delivering a devastating acknowledgement of what was about to happen.

“We’re going to crash into the ground.”

In one minute, the plane fell 27,000 feet before flight tracking data was cut off.

It crashed around 12.50pm local time, near the airport in Florida’s West Palm Beach between Cresthaven Boulevard and 10th Avenue North.

The pilot declared an emergency, issued distress calls then banked sharply to the right before crashing.

In a statement on social media, US Transportation Secretary Sean Duffy said “all nine people on board were killed”.

The identities of those onboard has not yet been released, and it is not clear if anyone else was injured.

According to AP, the plane just missed homes and crashed into a busy roadway, where it left a crater.

Spokesperson for Austin-Bergstrom International Airport told the outlet it was a private aircraft.

“This is definitely a tragedy,” he said.

In unverified dash cam footage circulating online, a plane can be seen nosediving into the ground and erupting into a fireball.

US President Donald Trump was in West Palm Beach on Sunday but left about an hour before the crash.

While there were storms in the area at the time of the crash, it is not clear if weather contributed to the plane

The FAA and National Transportation Safety Board will investigate the incident.

Steve Arroyo, an aviation safety expert, said icing and turbulence could have been factors in the crash and may have caused the plane to stall while it was cruising at 34,000 feet (10,363 metres).

There are many potential factors and the NTSB will consider all of them, including how the pilot responded to the icing and turbulence reported over the radio. But investigators won’t rule anything out at this early stage, he said.

The NTSB said investigators were expected to arrive at the crash site. A media briefing is scheduled for Monday in West Palm Beach.

Palm Beach County authorities were evacuating about 600 people from a nearby mobile home community while federal officials investigate the crash. The road will be closed until further notice, county officials said.

The crash occurred in Greenacres, Florida, according to Palm Beach County sheriff’s officials. The city of 45,000 people is about 11km southwest of West Palm Beach.