The video also shows Tichelman leaving the boat and then reaching back to lower a blind, concealing the victim's body from outside view, police say.
At court Wednesday in Santa Cruz, she was charged with manslaughter, administering heroin to another person, administering bodily harm, moving heroin across county lines, possession of heroin, destroying or concealing evidence, and prostitution. A public defender asked that her arraignment be postponed until July 16.
Police came across Tichelman in the course of investigating the death of Hayes, a Google executive who, reports say, worked on the Google Glass project, among others.
Authorities became concerned that she planned to leave the state, so detectives posing as a potential client lured her to an "upscale location" for a July 4 session costing $1,000. She was arrested when she arrived.
Google did not return messages seeking comment. Apple, where reports say Hayes previously worked, declined comment.
"I was really devastated when I heard about it," Todd Zion, who worked at Google for a short time under Hayes, told The San Francisco Chronicle. "He was a great boss. I never had a chance to thank him."
'Nice to talk with someone about killing sprees'
Tichelman describes herself as a model, makeup artist and writer on what appears to be her Facebook page. It says she formerly worked at Larry Flynt's Hustler Club and studied journalism at Georgia State University in Atlanta.
"It's really nice to talk with someone about killing sprees and murdering people in cold blood...and they love it too," a June 28 post on the page reads. "No judgement (sic). Yay! F**k all of that positivity bullsh**. Take a look around you. Life is hard and then you die."
The profile includes numerous modeling shots of Tichelman, some of them in provocative poses. By midafternoon Wednesday, the page appeared to have been deleted.