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Pyongyang frequently couples diplomatic overtures with military moves, as a way of maintaining pressure on negotiating partners, analysts say and may believe this weapons system gives it added leverage.
A proven submarine-based missile capability would take the North’s arsenal to a new level, allowing deployment far beyond the Korean peninsula and a “second-strike” capability in the event of an attack on its military bases.
The South’s Joint Chiefs of Staff said it detected a ballistic missile early Wednesday fired around 450 kilometres (280 miles) in an easterly direction at a maximum altitude of 910 kilometres.
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“Such actions by North Korea to raise tensions are not helpful to efforts to ease tensions on the Korean peninsula and we urge it again to stop immediately,” it added.
The North carried out a successful test of the Pukkuksong-1, also known as KN-11, in August 2016 which flew around 500 kilometres.
The United States said it was monitoring the situation on the Korean peninsula.
One of the projectiles fell into waters within Japan’s exclusive economic zone – a 200-kilometre band around Japanese territory, Tokyo said.
“The launching of ballistic missiles violates UN Security Council resolutions and we strongly protest and strongly condemn it,” Prime Minister Shinzo Abe told reporters.
The North is banned from ballistic missile launches under UN Security Council resolutions.
The launch came a day after the North’s Vice Foreign Minister Choe Son Hui said Pyongyang had agreed to hold working-level talks with Washington later this week.
The two sides will have “preliminary contact” on Friday and hold negotiations the following day, Choe said in a statement carried by the official Korean Central News Agency.
Negotiations between the two have been deadlocked since a second summit between the North’s leader Kim Jong Un and US President Donald Trump in February ended without a deal.
The two agreed to restart dialogue during an impromptu meeting at the Demilitarised Zone dividing the two Koreas in June, but the North’s anger at a US refusal to cancel joint military drills with South Korea put the process on hold.
Pyongyang also carried out several weapons tests since the meeting that have been downplayed by Trump, who dismissed them as “small” and insisted his personal ties with Kim remained good.
Relations thawed last month after Trump fired his hawkish national security adviser John Bolton, who Pyongyang had repeatedly denounced as a warmonger.