It shows Angilau, a member of the Tongan Crip gang, calmly rising from his seat beside his attorney during the witness testimony and grabbing his lawyer's pen. The Justice Department maintained that the marshal who killed Angilau protected the courtroom that day, and that disclosing the video would further inflame gang members who had threatened retaliation against law enforcement after the shooting.
The video then shows a deputy US Marshal, identified in court documents as Jane Doe, pull her gun from its holster and rapidly fire four shots at Angilau.
A judge chose to release courtroom footage of the incident after a lawsuit from Angilau's family was dismissed.
But Angilau's family thinks a jury should see the video to decide if the marshal used appropriate force, according to the family attorney Robert Sykes.
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"Having carefully reviewed the video of Mr. Angilau's swift flight from counsel table, his vault over the witness stand with pen in hand, and his attempt to violently attack the shackled witness, the court has little difficulty determining that (Jane) Doe's use of force to immediately stop Angilau's attack was objectively reasonable under the totality of the circumstances", Dowdell wrote.
'Angilau was in custody, but he essentially had escaped custodial control for those seconds during which he was executing his plan to assault the witnesses.
An investigation launched into the incident found the officer, who was not named, was legally justified in using the force he did.
Faces of the judge, attorneys and jurors are blurred out and the agency declined comment about the release of the video. He also noted that the defendant was already on the ground when the Marshall fired the final three shots, CBS News also reported.
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Dowdell said it was clear that Angilau's actions necessitated the marshal's deadly response and that Angilau's rights were not violated.
But he said the family is glad the video has been made public - and that they want justice. Dowdell sided with Cleary's order Friday. The family had been allowed to view the video, but not to release it.
Angilau was rushed to the hospital with at least one chest wound and later died from his injuries.
Angilau was also accused of assaulting two federal officers and brandishing a firearm.
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He was the last defendant in the case to stand trial, with previous defendants being sentenced to 10 to 30 years in prison. Angilau's trial, presided over by Judge Tena Campbell, was the first in the new courthouse.