Iran’s Revolutionary Guards have released 10 US sailors held for entering its territorial waters in the Gulf, state television reported.

They were detained on Tuesday after one of their two vessels broke down during a training mission, the US says.

A statement read on state media said the group were released into international waters after apologising.

It comes at a sensitive time, as the US and Iran try to implement the deal on Iran’s nuclear activities.

Investigations had shown the boats entered Iranian waters “unintentionally”, state television quoted the Guard’s statement as saying.

US Secretary of State John Kerry called Foreign Minister Javad Zarif shortly after the incident.

bbc