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Footage of the British sailors and marines being held in Iran has been aired by Iranian TV.
It shows the group being arrested, eating food in captivity and carries an interview with Faye Turney.
Turney is seen looking worried, wearing Iranian clothes and smoking.
She is due to be released shortly, the Iranian government said, and will carry a letter to her parents saying the group were "apparently" in Iranian territory.
At a news conference the MoD said the British boarding vessel was 1.7 nautical miles inside Iraqi territory when it was seized - and revealed the exact co-ordinates of the event to back up its claim.
Vice Admiral Charles Style said the MoD "unambiguously contested" Iran's claims that the boarding party had strayed into Iranian waters.
He said their capture was "unjustified and wrong," and said they were "ambushed."
The Ministry of Defence has released detailed evidence supporting
the claim that 15 British marines and sailors were in Iraqi territory when
they were seized by Iran.
The MoD released this photograph of a helicopter hovering above
the scene - with the GPS co-ordinates visible.