Two Navy boats detained by Iran last week when they drifted into Iranian waters had veered off course before one of the boats experienced mechanical problems, the U.S. military said Monday.

A statement by U.S. Central Command did not address why the boats, with a crew of 10, initially deviated from their planned course or whether it was linked to the mechanical problems the one boat encountered. The Navy said the matter was still under investigation.

As for the crew, "at this point there are no indications that the sailors were physically harmed during their detainment," the statement said. Still, the Navy will investigate the treatment of the sailors while in Iranian custody, "including any interrogation by Iranian personnel," the statement added.

The Iranians released video of the American sailors, including images of them kneeling with their hands behind their heads. One of the crew is shown apologizing for straying into Iranian waters but it is not clear whether the statement was coerced or how the video was edited.

Both boats had stopped last Tuesday and were working on the mechanical issue when they were approached by two small Iranian vessels. Soon afterward, two more two Iranian boats appeared with more armed personnel.

"Initial reports indicate there was a verbal exchange between the sailors and Iranians but no exchange of gunfire," the statement said.

The Americans were escorted "at gunpoint" to a port facility on Iran's Farsi Island, close to where they had strayed into Iranian waters.

The American boats were traveling from Kuwait to Bahrain and had planned to refuel en route. The Navy received an initial report that the boats were being queried by the Iranians. About 30 minutes later, the Navy lost communication with the boats and launched a massive search involving ships and aircraft in the region.

The U.S. Navy also attempted to contact Iranian military units operating near Farsi Island by broadcasting information over marine radio channels and reaching Iranian coast guard officials by telephone.

More than three hours after losing communication with the boats, the U.S. Navy cruiser USS Anzio heard from the Iranians that the American sailors were in Iranian custody and were "safe and healthy," the statement said.

The statement said all the Americans' equipment was returned intact with the exception of two SIM cards from handheld satellite phones.

The Americans were held for 15 hours before being released. President Obama said the two nations avoided a "major international incident," which exemplified a new relationship with Iran.

"Some folks here in Washington rushed to declare that it was the start of another hostage crisis," Obama said Sunday in an address to the nation. "Instead, we worked directly with the Iranian government and secured the release of our sailors in less than 24 hours."

The incident occurred just days before major developments in U.S.-Iranian relations. International sanctions against Iran were lifted Saturday as part of the international agreement limiting Iran's nuclear program and the administration announced a major prisoner exchange with Iran.

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