In a statement, the US Navy said it had
lost confidence in Eric Rasch, who was in charge of a riverine squadron at the
time of the incident in the Gulf.
A Navy official
said Mr Rasch had been re-assigned, the Associated Press says.
The sailors were
released after intense diplomacy between US Secretary of State John Kerry and
senior Iranian officials.
On Thursday, the
US Navy official said that Mr Rasch had failed to provide effective leadership,
leading to a lack of oversight, complacency and failure to maintain standards
in his unit.
The official -
who spoke on condition of anonymity - did not say what the former commander's
new role was.
In January, the
sailors - nine men and a woman - were detained when one of their two vessels
broke down while training in the Gulf.
They were then
taken to Farsi Island, in the middle of the Gulf, where Iran has a naval base.
The incursion
was "unintentional", the Iranian Revolutionary Guards were quoted as
saying at the time.
The sailors were
released after about 15 hours, and after Iran said they apologised.
But
Vice-President Joe Biden later said that the boat had had simply a problem and
there was "nothing to apologise for".
The US said at
the time it was investigating how the sailors entered Iranian waters.

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