A spokeswoman for the Minnesota Department of Public Safety said the agency planned to release that video to the public on Tuesday, along with radio communications between Yanez and other officers.
Castile's girlfriend, Diamond Reynolds, livestreamed the aftermath of the shooting on Facebook.
Then Yanez fires numerous shots into the car-shots he says he fired because he believed Castile was reaching for his gun.
The squad-car video shows Yanez approaching Castile's auto and asking for a driver's license and proof of insurance.
Yanez recalled that he asked Castile for his license, and as Castile reached down he (Castile) voluntarily told Yanez that he had a gun. He said they had to decide if Yanez was negligent and if that resulted in Castile's death.
"Sir I have to tell you I do have a firearm on me", Castile tells Officer Yanez. Yanez replied saying, "OK".
Yanez repeatedly tells Castile "don't pull it out", and then gunfire follows.
Yanez then radios for help, and once additional officers arrive minutes later, they pull Castile's body out of the vehicle and attempt to render aid.
Seven seconds after Philando Castile informed a Minnesota police officer he had a firearm, the officer shot him seven times.
"I don't know what more could have been done", said Castile family attorney Glenda Hatchett.
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More than 1,000 firefighters and nine water-dropping aircraft have been battling the blaze in Pedrogao Grande . There was another couple in the auto behind them, but Ms Nunas said they didn't escape and died on the road.
Yanez, 29, testified that he clearly saw Castile's gun and that Castile disregarded his commands not to pull it out.
The dashcam footage, which jurors had played for them several times this past month in the course of Yanez's manslaughter trial, mainly supports Reynolds's testimony. Yanez yelled as Castile bled to death.
The almost 10-minute video shows Yanez pulling over Castile on a wide street on a clear summer evening. And audio also picks up a frazzled Yanez telling his supervisor what happened.
Additionally, Yanez was acquitted on two felony charges of endangering Reynolds, as well as her 4-year-old daughter, who was secured in the back of the vehicle in a child's carseat.
Yanez: And then it was just, getting hinky, he gave, he was just staring straight ahead and I was getting (expletive) nervous and then, I told him, I know, I know, (expletive) I told him to get his (expletive) hand off his gun.
"I thought he had it enough so all he had to do is just pull it out, point it at me, move his trigger finger down the trigger and let off rounds".
Hatchett also discussed the Philando Castile Relief Foundation, which she said has already "given out scholarships in his honor". Soon, she was heard wailing.
The jury in the case spent approximately 30 hours deliberating. Castile and Yanez talk over each other, making it hard to know for sure what they were saying.
"The city intends to offer Officer Yanez a voluntary separation agreement to help him transition to another career other than being a St. Anthony officer".
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