Iran has freed the 10 U.S. sailors who strayed into its territorial waters Tuesday, Iranian and U.S. officials say.

The two U.S. vessels had been en route to Kuwait from Bahrain on a routine exercise, when, a senior defense official said, contact was lost with them Tuesday. Iran said they were detained and held at a base on Farsi Island.

A statement from Iran’s Islamic Revolution Guards Corps said “technical and operational examinations” of the vessels showed they had inadvertently entered Iranian waters and were released into international waters after an apology. Rear Admiral Ali Fadavi, the commander of the IRGC Navy, said earlier Wednesday the U.S. vessels had developed technical problems with their navigation systems. – The Atlantic