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Hi there
I noticed on the HERCS the fwd thruster are spinning faster than the aft ones when doing deck checks specially when thrusting forward and on the turn function. Im assuming this makes the sub more stable when travelling through the water so it is pulled rather then pushed. On the current system all the power is distributed equally to all 4 thrusters which makes the sub quite unstable.
Has anyone got a link or a description how the ratio is computed.

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