The part about the escape from Brooklyn Heights begins about 22 mins into the video.
You should be able to download the entire video onto RealPlayer *if* you do it through Internet Explorer. Mozilla FireFox doesn’t seem to allow it. The site has at least some of the other episodes. 1-4 are the best. I think they have all 4. RealPlayer is a free program you can download from Real.com.
You can watch it online. You don’t necessarily have to download it to your computer.
And after checking again, it looks like they only have the first 3 episodes of the 6-episode series. 4 dealt with the failed British attempt to gain control of the Hudson River and the Battle of Saratoga where later turncoat Benedict Arnold was a hero.