The Pentagon confirmed Wednesday the 10 U.S. sailors detained by Iran were freed, following a brief interrogation that took place overnight.
"There are no indications the sailors were harmed," the Navy said in a statement.
The nine men and one woman were detained by the Islamic Revolutionary Guards Corps on Farsi Island and questioned to "make sure they weren't snooping around," Fox News reported.
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Iranian state TV released a video Wednesday of a U.S. sailor apologizing for crossing into the country's territorial waters. The apology was publicized hours after Vice President Joe Biden said the U.S. did not apologize.
“It was a mistake, it was our fault, and we apologize for our mistake,” the unnamed sailor said while being held in Iranian custody.
The IRGC said in a statement the sailors were released back into international waters after the United States apologized and issued a clarification that the ordeal was "a mistake," NBC News reported.
"The Americans have undertaken not to repeat such mistakes," Iran's statement continued. "The captured marines were released in international waters under the supervision of the IRGC Navy."
The U.S. Navy reported the sailors were "safely returned" to a ship in international waters.
The capture of U.S. sailors by the very country that is supposed to be abiding by the terms of a White House-pressed nuclear agreement caused massive outcry among some on Capitol Hill – but not President Obama, who was silent on the matter during his State of the Union speech.
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Sen. Tom Cotton, for instance, said in a written statement: "It's humiliating Barack Obama, and therefore the United States, to have American sailors held hostage during his final State of the Union."
And Rep. Duncan Hunter expressed concern Iran was going to copy the U.S. boat design, as well as benefit from the equipment on the craft.