TEHRAN, Iran — All 10 U.S. Navy sailors detained by Iran after their two small boats allegedly drifted into Iranian territorial waters around one of Iran’s Persian Gulf islands a day earlier have been freed, the United States and Iran said today.

The sailors’ swift release quickly diffused what could have escalated into an international crisis days before Iran is expected to meet the terms of last summer’s nuclear deal with world powers. The deal gives Iran significant relief from painful economic sanctions.

The nine men and one woman were held at an Iranian base on Farsi Island after they were detained nearby on Tuesday. The tiny outpost has been used as a base for Revolutionary Guard speedboats as far back as the 1980s.

The Navy said there were no indications they had been harmed while in custody.

The sailors departed the island at 8:43 GMT aboard the boats they were detained with, the Navy said. They were picked up by Navy aircraft and other sailors took control of their boats for the return voyage to Bahrain, where the U.S. 5th Fleet is based.