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Body Cam Footage: Arapahoe County sheriff's deputies can be seen shooting former deputy Mark Bidon, 40, in October. Screenshot: Denver Post

Up-close footage of two Colorado sheriff’s deputies fatally shooting a former colleague right outside the sheriff's headquarters in October was released this week and shows a tense scene that left a former deputy dead.

Deputies Matthew Schambow and Buddy Gillespie of the Arapahoe County Sheriff’s Office in Colorado can be seen approaching the man at a checkpoint in body cam video released Friday, The Denver Post reports. The two were cleared of wrongdoing by the 18th Judicial District Attorney’s Office earlier this week for shooting and killing former deputy Mark Bidon, 40, on Oct. 29 of this year.

The video shows Bidon pulling up to a checkpoint gate outside police headquarters and responding to Gillespie’s inquiry that he was “here for my orders.” The former deputy, who had worked with at least one of the officers at the checkpoint, was carrying a 9mm Glock pistol. After a brief scuffle trying to retrieve the gun from Bidon, who can be seen with a vacant stare, shots an be heard and Bidon is seen slumped over into the passenger’s seat.

“I’m sorry, dude,” Sgt. Bruce Walker said to another deputy. “Yeah, he was going to shoot us,” Walker said. “He was not going to let that gun go, dude.”

The video was made public this week after the case was determined to be closed by the department.

“Who the f*** is this dude, what the f*** who is this guy, oh my god he’s wearing a police belt,” deputy Gillespie can be heard saying as he examines Mark Bidon’s body for the firearm that was on his lap. “He used to work for you?”