The U.S. Navy reached a settlement Thursday in Tokyo over a deadly collision last year off Hawaii involving one of its submarines and a Japanese high school fisheries training ship.

The settlement was made with relatives of seven of the nine people killed and the 26 survivors in the sinking of the 499-ton Emime Maru, which was struck by the USS Greeneville on Feb. 9, 2001, as the 8,000-ton sub was performing a rapid surfacing drill for civilian guests on board.

The settlement, which included compensation for injuries the survivors sustained, was signed at the U.S. Embassy by the navy and lawyers representing the 26 survivors and the next of kin of seven of the people who died. The families were not present for the signing.