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"The naval blockade imposed on the Gaza Strip – in view of the security circumstances and Israel's efforts to comply with its humanitarian obligations – was legal pursuant to the rules of international law. The actions carried out by Israel on May 31, 2010, to enforce the naval blockade had the regrettable consequences of the loss of human life and physical injuries. Nonetheless, and despite the limited number of uses of force for which we could not reach a conclusion, the actions taken were found to be legal pursuant to the rules of international law."
Excerpt from the Turkel Committee report (see below video)
The Turkel Commitee Report (.pdf format):http://www.turkel-committee.gov.il/files/wordocs/8808report-eng.pdf
The Foreign Observers report (.pdf format):