SPOKANE, Wash. >> A settlement has been reached in a landmark lawsuit that the American Civil Liberties Union brought against two psychologists involved in designing the CIA’s harsh interrogation program used in the war on terror.

Terms of the deal were not disclosed today. Attorneys for the ACLU called it a historic victory, saying it is the first time the CIA or its private contractors have been held accountable for torturing suspects in the war on terror. It avoids a trial that had been set for Sept. 5 in federal court in Spokane, Washington.

The ACLU sued James Mitchell and John “Bruce” Jessen on behalf of three former detainees, including one who died in custody, who contended they were tortured at secret CIA prisons overseas. Mitchell and Jessen were under contract with the federal government following the Sept. 11 terror attacks.

The lawsuit claimed they designed, implemented and personally administered an experimental torture program. The techniques they developed included waterboarding, slamming the three men into walls, stuffing them inside coffin-like boxes, exposing them to extreme temperatures, starving them and keeping them awake for days, the ACLU said.

“This outcome shows that there are consequences for torture and that survivors can and will hold those responsible for torture accountable,” said Dror Ladin, an attorney for the ACLU. “It is a clear warning for anyone who thinks they can torture with impunity.”

James T. Smith, lead defense attorney, said the psychologists were public servants whose interrogation methods were authorized by the government.

“The facts would have borne out that while the plaintiffs suffered mistreatment by some of their captors, none of that mistreatment was conducted, condoned or caused by Drs. Mitchell and Jessen,” Smith said.

Jessen said in a statement that he and Mitchell “served our country at a time when freedom and safety hung in the balance.”

Mitchell also defended their work, saying, “I am confident that our efforts were necessary, legal and helped save countless lives.”

But the group Physicians for Human Rights said the case shows that health professionals who participate in torture will be held accountable.

“These two psychologists had a fundamental ethical obligation to do no harm, which they perverted to inflict severe pain and suffering on human beings in captivity,” said Donna McKay, executive director of the group.

The lawsuit sought unspecified monetary damages from the psychologists on behalf of Suleiman Abdullah Salim, Mohamed Ahmed Ben Soud and the estate of Gul Rahman.

Rahman, an Afghan, was taken from his home in Pakistan in 2002 to a secret CIA prison in Afghanistan. He died of hypothermia several weeks later after being shackled to a floor in near-freezing conditions.

According to the lawsuit, Salim and Ben Soud both were subjected to waterboarding, daily beatings and sleep deprivation in secret CIA sites. Salim, a Tanzanian, and Ben Soud, a Libyan, were later released after officials determined they posed no threat.

A U.S. Senate investigation in 2014 found that Mitchell and Jessen’s techniques produced no useful intelligence. They were paid $81 million for their work. President Barack Obama terminated the contract in 2009.

Mitchell and Jessen previously worked at the Air Force survival school at Fairchild Air Force Base outside Spokane, where they trained pilots to avoid capture and resist interrogation and torture. The CIA hired them to reverse-engineer their methods to break terrorism suspects.

The ACLU said it was the first lawsuit involving the CIA’s torture program that was not dismissed at the initial stages. The Justice Department got involved to keep classified information secret but did not try to block it.

Though there was no trial, the psychologists and several CIA officials underwent lengthy questioning in video depositions. Some documents that had been secret were declassified.

The ACLU issued a joint statement from the surviving plaintiffs, who said they achieved their goals.

“We were able to tell the world about horrific torture, the CIA had to release secret records, and the psychologists and high-level CIA officials were forced to answer our lawyer’s questions,” the statement said.

The lawsuit was brought under a law allowing foreign citizens to have access to U.S. courts to seek justice for violations of their rights.