"The information that they have given us, and through their commanders, is that they did stray accidentally into Iranian waters due to a navigation error", Carter said in an interview with Fusion network in Miami on January 14.

Earlier Wednesday, Fadavi said the American boats had shown "unprofessional acts" for 40 minutes before being picked up by Iranian forces after entering the country's territorial waters.

The Americans' small Riverine boats were sailing between Kuwait and Bahrain on a training mission when the USA lost contact.

Ted Cruz took the opportunity to slam Obama's foreign policy, telling conservative radio host Hugh Hewitt that, "the fact that Iran feels emboldened enough to capture two U.S. Navy ships and to take 10 sailors into custody is really a demonstration of the unbelievable weakness of the Obama-Clinton foreign policy".

"We can not speak to the conditions of the situation or what the crew was experiencing at the time", Tisdale said in a statement.

Members of the Obama administration, along with the top House Democrat, applauded Iran for releasing 10 U.S. Navy sailors who unintentionally strayed into Iranian territorial waters on Tuesday, while Republican leaders used the incident as fodder to bash President Barack Obama. "We need to give these guys the opportunity to tell us what was really going on and what the overall context is before we can really know".

The sailor, now 27-years-old, graduated from Lisle's Benet Academy in 2007 before entering the U.S. Naval Academy.

The Pentagon confirmed they had been freed and that there was no indication that the sailors had been harmed.

A handout TV grab made available by the official website of Iranian state television (IRIB) on 13 January 2016 shows American military personnel on their boat after they were captured by the Iranian Revolutionary Guard Corps (IRGC), at an undisclosed location in Iran, 12 January 2016. Reports said Iran wanted an apology for the incident and hours ago the us hadn't given one according to Secretary of State John Kerry's spokesperson.

Kerry thanked Iran for its cooperation in the release of the sailors.

The video depicts seized weapons and ammunition laid out on a platform and scenes from inside a boat, including shots of a U.S. Navy uniform, a storage room and racks of equipment, along with a scene of an Iranian officer in a green beret and fatigues examining a document as he sits in a pilot's chair.

The sailors, nine men and one woman, were held overnight on Iran's Farsi Islandand released Wednesday.

The Iranians did not interfere, the defense official said.

They were released today, just days before the controversial Iran nuclear deal is expected to be implemented.

What admirable "diplomatic" objective was served by forcing our sailors to their knees at gunpoint, and then publicly releasing the video thereof? The U.S. Secretary of State said at the National Defense University that the sailors have been provided with blankets and food and remarked how important is the role of diplomacy in order to maintain the country "safe, secure and strong".