A lawsuit that alleges that Britain’s Prince Andrew sexually assaulted an underage girl has been settled out of court “in principle,” according to the lawyer of Virginia Giuffre. This development comes after the prince unsuccessfully attempted to get the case thrown out of federal court. He has denied the allegations. The exact details of the settlement have not been disclosed, but it was announced that Prince Andrew intends to make a “substantial donation” to Giuffre’s charity. Prince Andrew is accused of sexually assaulting Giuffre when she was 17 while she was under the control of Jeffrey E…