While I agree she should have been more careful and it was wrong for her to pull out, I think it could be an easy situation for her to make that mistake given your speed and profile. It also appears from the video (and I say this because sometimes videos can be misleading) that you were approaching a hazard too quickly. I also don't think you should have undertaken if you could have avoided it (at least given the situation and the apparent speed you were going).
Again, that's what the video gives me -there's no way I would have been close to 30mph in that situation with cars at the left and right (personally, I'd want a bright light and more lateral movement to even think of approaching at that speed, and even then, I wouldn't!). Yes, theoretically you were in the right, but I think cycling is more about being safe than right (at least for me) and you have to do your best to be aware of other road users visual vantages and likely behaviour. Comments from the police? I can't say I agree with them, though they have a point that if you were slapping the car, you could have braked more and possibly avoided the undertake.
Kudos for posting the video to be open to criticism as well -and I'd take all the comments posted and analyze them, and see if there is anything you can take from them -at least try to have an open mind..... And safe cycling out there!