Three Navy admirals linked to a bribery scandal have been forced into retirement. The accused trio had allegedly enjoyed a lavish lifestyle which included fancy dinners, expensive cigars, sightseeing trips, shopping binges and high-value hotel accommodations; all sponsored by a key figure in the case - Singaporean businessman Leonard Glenn Francis.

Navy Secretary Ray Mabus meted out censure letters in February, along with the retirement of the three admirals: Vice Adm. Michael Miller, Rear Adm. Terry Kraft and Rear Adm. David Pimpo.

But the details behind what Mabus called "poor judgment and a failure of leadership" were not known until this weekend. Details have emerged based on redacted documents received through the Freedom of Information Act. "You used your relationship with Mr. Francis to secure tour services and hotel rooms for you. Given the frequency of the gifts which you received from Mr. Francis, your actions would have led a reasonable person with knowledge of the relevant facts to believe that you used your public office for private gain," Mabus wrote in a letter of censure to Pimpo, who was demoted to captain, reports Los Angeles Times.

The huge bribery scandal is estimated to have cost the government at least $20 million. All three officers have been reprimanded but will not face criminal charges, the Navy announced Tuesday, according to Military.com.

Glenn Defense Marine Asia, owned by Francis, has for two decades supplied services to U.S. Navy ships at ports in Asia and the Pacific. The company supplied water, fuel, food, garbage and waste removal, tugboats, fenders and other items for Navy ships in Asia-Pacific ports. Francis has pleaded guilty to bribery and awaits sentencing in San Diego federal court. He has admitted providing more than $500,000 in cash to several co-defendants, as well as hundreds of thousands of dollars in gifts. The Navy has canceled all contracts with the company.

The three officers had enjoyed positions of great authority: Pimpo as of Naval Supply System Command, Weapons System Support; Miller as superintendent of the U.S. Naval Academy; and Kraft as commander of U.S. Naval Forces in Japan.

Apart from Francis, a commander, a Navy captain, an enlisted sailor, a retired lieutenant commander, an ex-Naval Criminal Investigative Service agent, and a cousin of Francis who worked for his company have all pleaded guilty and are awaiting sentencing. A second commander and a former high-ranking Navy civilian have pleaded not guilty and are awaiting trial.