WASHINGTON (AP) — A Navy investigative report says the 10 sailors detained by Iran in the Persian Gulf in January were poorly prepared to avoid the encounter and in some cases failed to follow a military code of conduct while in captivity.

The report was released by the Navy on Thursday.

It also says if the sailors' boats had been properly monitored from the air or water, the Iranians probably would have been unable to board the vessels and detain the Americans.

The report recounts a long list of mistakes, misjudgments and other failures that led to the embarrassing episode.

Nine individuals — six officers and three enlisted sailors — have been disciplined or face discipline in connection with the debacle involving two Navy boats that entered Iranian territorial waters Jan. 12.