The US Pentagon has acknowledged that their sailors made a navigational error into Iranian waters but stated that the information was not communicated to US commanders before the crew were intercepted by the Iranian military.
US Defense Secretary Ash Carter gave this information during an interview with Jose Ramos of Fusion TV. He stated that more information about this debacle was received after the debriefing of the sailors who were released on Wednesday and flown to a US airbase in Qatar.
The US sailors, nine men and one woman, were released on Wednesday after a series of anxious diplomatic moves by the US government in resolving the issue so as not to derail the nuclear accord. Defense Secretary Ash Carter denied that the sailors were on a covert mission but were transiting from one location to another.