"I can reach in with a couple fingers and pull the gun out right now", Kapelsohn told the jury.
Two Roseville police officers, including the one who says he actually removed the gun, said they saw it hanging out of Castile's pocket when officers were preparing Castile's body to be loaded onto a gurney.
"I thought I was going to die", he told the jury.
"I had no other choice". "I was forced to engage Mr. Castile. He was not complying with my directions".
Prosecutor Rick Dusterhoft asked Yanez about a statement to investigators that he saw the barrel of the gun before he fired.
Castile's girlfriend and four-year-old daughter were also in the auto at the time of the shooting.
Yanez is charged with second-degree manslaughter. He faces up to 10 years in prison if convicted of second-degree manslaughter.
Yanez, who is Latino, was expected to take the stand later Friday.
Paulsen also said it was curious Kapelsohn opted to leave out Yanez's initial statement on the scene about not knowing where the gun was from his report, as well as any mention that Castile was wearing a seatbelt during the incident.
He said as Castile drove by his squad vehicle, he locked eyes with him and remembered him having a "deer in the headlights" look.
The officer was already on alert after the convenience store robbery and Castile looked like one of the robbery suspects.
He radioed his partner, Joseph Kauser, to inform him that he was stopping the auto because the "occupants just look like people that were involved in a robbery", according to the Star Tribune.
Squad-car video of the encounter shows that Yanez replied, "OK, don't reach for it then", Yanez replied.
When he told Castile not to reach for his weapon, Yanez said, "I was able to see his right hand, it was in a C-shape".
When he saw the metal of the gun, Yanez told the jury, "my family popped into my head. My wife. My baby girl". Squad auto video recorded him telling a supervisor after the shooting that he did not know where the gun was, although it also recorded him saying he told Castile to take his hand off it. Witnesses testified that the gun was in a pocket of Castile's shorts when paramedics removed him from his vehicle.
Prosecutors argue Yanez acted unreasonably in shooting Castile.
"I don't know where the gun was".
After Castile was stopped, Yanez asked him to present his driver's license and insurance card.
Then, when Castile told him he had a firearm, Yanez reacted within the bounds of his training when he told him not to reach for "it".
Prosecutors have sought to show Yanez could have taken lesser steps, such as asking to see Castile's hands or asking where the gun was.
During cross-examinations, prosecutor Richard Dusterhoft asked Yanez if he believed he followed all policies of the St. Anthony Police Department.
Students were taught to put their hands on the steering wheel "at all times unless directed by the officer", tell the officer they have a permit, tell the officer they have a gun and reveal the gun's location, Diehl said.
Dutton added that Yanez's ability to accurately describe Castile's handgun after the shooting indicated he told the truth.
Castile had a permit to carry the weapon and he told Yanez he was carrying a gun.
Also, two witnesses gave conflicting testimonies regarding Castile's gun.
During Yanez' trial on Wednesday, a police force expert testified that the officer was justified in his use of force. He said Castile ignored his instructions not to reach for the gun. "He's justified in [using deadly force], and he's trained to do so".
Defense attorneys argue that Yanez responded appropriately to the threat of a gun and in fear of his life.
The defense also called its own toxicology expert to the stand Thursday to weigh in on the evidence of marijuana use found in Castile's system during his autopsy.
The police video of the traffic stop, as well as the Facebook Live post by girlfriend Diamond Reynolds, who was in the passenger seat next to Castile during the stop, were played in court on Monday. The video quickly went viral and sparked protests across the nation.