We're learning more about the night Gilbert police shot and killed an MCSO detention officer. It happened near Recker and Guadalupe Roads back in February.

Gilbert police have just released body camera video from that night.

Just one week before the shooting, Joshua Kinnard's fiancee Maggie says he spent two days at the VA for his PTSD and traumatic brain injury.

Then a few days later, she called 911 to get him more medical help, but the situation escalated from there.

The weather was cold that night, and she couldn't get him to come out of the pool. She was worried about his health, and feared he would try and kill himself.

In police body cam video he appeared aggravated, and was trying to kick her out of their home.

Officers spent nearly 20 minutes inside the home trying to de-escalate the situation.

The woman goes to pack some things for her and her children to leave for the night to stay somewhere safer. Officers escorted her out to her car parked down the street.

That's when police say Kinnard came outside with a weapon. Police fired, hitting and killing him.

[Related: MCSO: Man killed in Gilbert officer-involved shooting was detention officer]

"I am surviving day by day, every day is a struggle. I live with the guilt of trying to do everything I could to save somebody's life and not being able to," said Maggie.

Kinnard, an Iraq War vet, worked as a detention officer with the Maricopa County Sheriffs Office. At the time of the shooting, he was on approved medical leave.

Maggie says police were also called out one day before the shooting when a neighbor reported a disturbance. She says that time, the Gilbert Police Department sent out a mental health officer. She says that same officer showed up the night of the shooting too, but only after Kinnard was already dead.

"I think there were so many times that night that Gilbert PD could have stopped this horrible event from happening. They should have detained him in the pool, he was erratic," she said. "I told them he was suicidal, they didn't offer any kind of assistance, take him to get a mental health check."

The Maricopa County Attorney's Office will not be pursuing criminal charges against the officers.

[RELATED: 2018 Officer Involved Shootings]

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