FARSI ISLAND, IRAN — Iran on Wednesday released 10 US Navy sailors taken into custody a day earlier when their boats mistakenly strayed into Iranian territorial waters, but not before releasing video of one of the crewmen apologizing for their 'mistake.'

The US sailors were detained on Tuesday after a technical problem with one of their boats saw them drift into waters near an Iranian naval base on Farsi Island in the Persian Gulf.

The 10 sailors, 9 men and one woman, were on two small boats travelling from Kuwait to Bahrain at the time of the incident.

The sailors were interrogated for several hours and were held for a total of 16 hours before being released.

The two boats were then escorted out of Iranian waters before rendezvousing with the USS Anzio at a prearranged point in international waters, according to CNN.

Iran's Revolutionary Guard said it released the US sailors after they apologized and determining they had strayed into Iranian territorial waters by mistake because of a faulty navigational system.

The US later rejected reports that Washington had apologized to Tehran over the incident.

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