An Indonesian navy submarine that sank off the coast of Bali on Wednesday has been found split into three pieces on the sea bed, officials say. All the vessel's 53 crew members have been confirmed dead, according to a BBC report.

Navy officials said they had received signals from the sub's location more than 800m (2,600ft) deep early on Sunday.

An underwater rescue vehicle loaned by Singapore was sent down to get visual confirmation of the wreckage.

The KRI Nanggala disappeared after requesting permission to dive during a torpedo drill. The reason for its sinking is not yet clear.

Sunday's statement came a day after the Indonesian military confirmed that debris from the sub, including prayer mats, had been found in the area where it went missing.

Navy Chief of Staff Yudo Margono said more items from the submarine had been recovered including an anchor and crew safety suits.

"The KRI Nanggala is divided into three parts, the hull of the ship, the stern of the ship, and the main parts are all separated, with the main part found cracked," he told reporters on Sunday.