An Indonesian navy submarine has gone missing with 53 people on board, military officials say.

The submarine was conducting a drill north of the island of Bali on Wednesday, but it failed to report back and contact was lost.

Indonesia’s military chief said warships had been dispatched to find the KRI Nanggala-402 vessel.

Officials have called on Australia and Singapore to help in the search. The countries have not publicly commented.

The German-made submarine is thought to have disappeared in waters about 60 miles (100km) off the coast of Bali early on Wednesday morning.

“[The navy] is currently searching for it. We know the area but it’s quite deep,” First Admiral Julius Widjojono told AFP news agency.