The Norwegian navy has released the first footage showing the damage caused to a frigate that sank after a collision with a Tsakos Energy Navigation tanker last month.

In the video, divers and an ROV can be seen exploring the eerie underwater wreck of the KNM Helge Ingstad through the hole torn in its hull.

The crew of the sunken warship didn't realise they were headed toward the moving 113,000-dwt aframax TS Sola (built 2013) until it was too late, a preliminary investigation of the collision found.

The Accident Investigation Board Norway said the crew of the state-of-the-art naval ship, having just completed a watch change while returning from Nato exercises in the early morning hours of 8 November, thought the tanker was stationary until the two ships were within 400 metres of each other.

The frigate's crew then attempted an avoidance manoeuvre, but it was too late.

No one was injured in the crash. The loss is speculated to run to around $500m.