HALIFAX -- Canada's only fully operational submarine returned to its Halifax port Tuesday after completing its voyage to Scandinavian waters on its second attempt.

HMCS Windsor spent about 53 days at sea to travelling to waters off Norway to join allies in a North Atlantic Treaty Organization exercise dubbed "Dynamic Mongoose."

Windsor was forced to re-route in June after its first trip was interrupted by a problem in one of its diesel engines.

Lt.-Cmdr. Peter Chu said Windsor's mechanical issues were manageable and the vessel lived up to its "operational obligations" on the international stage.

Vice Admiral Ron Lloyd thanked the crew's families for being patient after Windsor's mission was extended, saying there's nothing worse than making a child wait 14 or 15 "sleeps" until they can communicate with their parent.

Windsor logged nearly 200 days at sea in 2015 and is on track to do the same this year.

Windsor is one of the four submarines that Canada bought from Britain in the late 90s, but the vessels have been beset by mechanical issues.