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13 August 2017, 03:22 | Terri Saunders
Madsen later said there was a valve error that became serious when he tried to repair
"Peter Madsen faces preliminary charges (of manslaughter) for having killed in an unknown way and in an unknown place Kim Isabell Frerika Wall of Sweden sometime after Thursday 5 p.m.", Prosecutor Louise Pedersen told a packed courtroom, where proceedings began in a larger hall after delays due in part to overcrowding in another location.
Nautilus, named after the ship from the classic science fiction novel Twenty Thousand Leagues Under the Sea, was built by Mr Madsen after raising $200,000 (£154,000) online.
Thirty-year-old freelance journalist Kim Wall was doing a story on the submarine.
The submarine sank on Friday, but Madsen says Wall disembarked on Thursday night.
"Whether the woman was on board the submarine at the time of her disappearance is unclear", Danish police said without naming her.
Madsen's defence lawyer said her client maintains he is innocent but is "willing to cooperate" and has not decided whether to appeal the ruling.
Ms Wall's family told the Associated Press that "it is with great dismay that we received the news that Kim went missing during an assignment in Denmark".
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The journalist was born in Sweden and studied at the London School of Economics, Columbia University in NY and the Sorbonne in Paris.
Madsen had wanted to launch himself into the space race before building his submarine the Nautilus, the biggest privately-made one ever when he made it in 2008.
When asked why he did not respond to radio contact earlier in the day, Madsen told them he had had technical problems, Danish navy spokesman Anders Damgaard told The Associated Press news agency. "[He] came up again and stayed in the tower until water came into it". The navy says that the 40-ton, almost 18-meter-long (60-foot-long) submarine with at least two people on board had been "found sailing" south of Copenhagen.
Local broadcaster TV2 aired footage of Madsen getting off the private boat and giving a thumbs-up sign, but the journalist was nowhere to be seen.
Peter Madsen (below) denies killing the Swedish woman, saying he last saw her when he dropped her off on the tip of an island in Copenhagen late on Thursday.
The navy initially said the sub was "found sailing" south of Copenhagen, but Mr Damgaard later said the 40-ton, 60ft-long submarine had sunk.
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