TEPCO released the video of the work on June 15, and here it is, courtesy of Mainichi Shinbun. (You can download your own at TEPCO's site, here.) According to the caption of the video, it was shot by a Toshiba employee. For their 30-minute effort, they received between 5.88 to 7.98 millisieverts external radiation, twice of what had been planned.
You get to see the contaminated water in the basement, toward the end.