https://en.wikipedia.org/wiki/Gaza_flotilla_raid
The exact sequence of events is contested, in part due to the IDF's confiscation of the passengers' photographic evidence.
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According to a UN report, all activist deaths were caused by gunshots, and "the circumstances of the killing of at least six of the passengers were in a manner consistent with an extra-legal, arbitrary and summary execution." The five other ships in the flotilla employed passive resistance, which was suppressed without major incident.