Tiger Woods-Elin Nordegren Divorce Official

Tiger Woods and Elin Nordegren appeared in a Florida courtroom to finalize their divorce on Monday, nine months after a late-night car crash led to the discovery of multiple affairs.

Nordegren's lawyers wrote that the marriage was "irretrievably broken" in the divorce petition. After the hearing at Bay County Circuit Court in Panama City, Fla., the couple pleaded for privacy in a joint statement.

"We are sad that our marriage is over and we wish each other the very best for the future," Woods and Nordegren said in the statement. "While we are no longer married, we are the parents of two wonderful children and their happiness has been, and will always be, of paramount importance to both of us.

"Once we came to the decision that our marriage was at an end, the primary focus of our amicable discussions has been to ensure their future well-being. The weeks and months ahead will not be easy for them as we adjust to a new family situation, which is why our privacy must be a principal concern."

The terms of the divorce were not disclosed. Documents obtained from the courthouse by TMZ.com said the couple had been separated "a substantial period of time" and a financial settlement had been worked out between the two in July.

The judge granted the divorce immediately, forgoing the normal 20-day waiting period for a dissolution of marriage request to become final. Bill Beck, a family law attorney in Tampa Bay, said it's extremely rare for proceedings to move so quickly, especially when there are millions of dollars and children involved.

"I think this shows there have been substantial negotiations going on for quite a while," Beck said. "The fact that this was an uncontested divorce is remarkable because it suggests that she's satisfied with whatever she got monetarily and in terms of custody."

To get the divorce done in one day, the couple traveled nearly 400 miles from the home they once shared near Orlando to the Florida Panhandle.

Woods was introduced to Nordegren by PGA Tour golfer Jesper Parnevik, who employed Nordegren as a nanny. The couple married in October 2004 and had two children, Sam, 3, and Charlie, 1.

Nordegren and Woods both completed parenting classes, according to another filing. Beck said the courses are less about parenting and more about teaching divorced spouses how to deal with one another for the benefit of the children.

According to the documents, the "parenting plan is in the best interests of the minor children," although the divorce petition didn't spell out the exact custodial arrangement. Woods and Nordegren, however, likely agreed on a shared custody plan, Miami-based family lawyer William Brady said.

Woods is slated to play at The Barclays at New Jersey's Ridgewood Country Club later this week, a FedExCup event where Woods will likely need to finish at least 50th to advance in the playoffs. Woods remains No. 1 in the world despite some shaky play of late.