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The Israeli military said aerial defence systems intercepted the projectile, which activated warning sirens in the southern coastal city of Ashkelon. There were no reports of casualties.
No Palestinian group claimed responsibility for the rocket fire. Israel usually blames the militant Hamas group for any violence emanating from the coastal enclave it controls.
An Israeli military raid in the West Bank early Friday, in which three Palestinian militants were killed and eight wounded, could have triggered the rocket attack from Gaza.
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