Story highlights Kate Steinle, 32, was killed last year at a tourist spot in San Francisco

Her accused killer, Juan Francisco Lopez-Sanchez, had seven prior felony convictions

(CNN) The fatal shooting of Kate Steinle on a San Francisco pier last summer -- allegedly at the hands of an undocumented immigrant deported five times from the United States -- became a focal point of an angry national debate over illegal immigration.

On Friday, her family filed a federal lawsuit against U.S. Immigration and Customs Enforcement, San Francisco County's former sheriff, the federal Bureau of Land Management and the man who allegedly fired the deadly shot.

"Kate's death was both foreseeable and preventable had the law enforcement agencies, officials and/or officers involved simply followed the laws, regulations and/or procedures which they swore to uphold," the lawsuit said.

On the evening of July 1, 2015, Steinle was walking on a busy pier of the Embarcadero with her father when there was a single popping sound in the air. The 32-year-old medical device sales representative was shot in the chest, a bullet piercing her aorta, according to the lawsuit.

Her father, James, held her in his arms. "Help me Daddy," were her last words to him, the lawsuit said. She died later at a hospital.

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