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North Korea on Thursday described the trial of two new "solemn warning" missiles against what it termed "South Korean warmongers".
Short-range missiles were fired in the Sea of Japan, also known as the East Sea, from Wonsan on the east coast of North Korea.
Chief Kim Jong-un said his country was forced to develop weapons to "eliminate potential and direct threats".
He added that the trial involved a new tactically guided weapon system.
Kim's remarks, reported by the state media, come after the North criticized South Korea's and the United States' decision to hold military exercises next month.
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North Korea has long considered these exercises as preparation for an invasion.
Although the United States and South Korea have refused to cancel the annual military exercises, they have been significantly reduced.
The Chief of Staff of South Korea (JCS) said that one of the new missiles had traveled about 690 km (428 miles). The United States also confirmed that the missiles were "short range".
What did Kim Jong-un say?
Mr. Kim said he was "satisfied" with the response of the new weapons system and said that it "would not be easy to defend himself".
He said South Korea should "not make a mistake by ignoring the warning".
South Korea urged Pyongyang to put an end to acts that do not help to ease tensions and said the tests posed a military threat.
US Secretary of State Mike Pompeo downplayed concerns over the launch, calling them a bargaining tactic.
"Everyone is trying to prepare for the negotiations, create leverage and create risk for the other party," he told Bloomberg Television.
"We want diplomacy to work – it takes another two or four weeks, so be it."
Pyongyang is aiming for Seoul – using both weapons and words.
The short-range missile test conducted yesterday put the entire peninsula within striking range. Then there is the accusation that Seoul is a "double game" – seeking peace while procuring new weapons and participating in joint military exercises with the United States.
This language might bite a bit after South Korean President Moon Jae-in worked so hard to develop a relationship with Kim Jong-un. Even Seoul's offer to send rice to the impoverished North seems to have been rejected for the moment.
North Korea may be trying to test its influence on the South. It is also a way of trying to divide the positions of Washington and Seoul. The Moon administration has already pleaded for partial relaxation of some sanctions in order to build confidence with North Korea. A move that the United States will not consider.
Once again, Donald Trump receives no criticism in this statement. It's become a habit for Pyongyang. Kim keeps the door open for talks with the US president. He seems to want to deal directly with Mr. Trump and he would not want to do anything or say that jeopardizes that chance.
What is the context?
This test is the first since the meeting between Mr. Kim and US President Donald Trump on June 30 in the demilitarized zone, a region that divides the two Koreas.
The launch also comes after the North's anger over planned military exercises between South Korea and the United States, an annual event. The North warned that they could affect the resumption of denuclearization talks.
About 29,000 US troops are based in South Korea, under a security agreement reached after the end of the war in 1953.
Last year, Kim said North Korea would stop nuclear testing and no longer launch intercontinental ballistic missiles.
Nuclear activity, however, seems to be continuing, and the satellite images of North Korea's main nuclear site last month show a movement, suggesting that the country could turn radioactive material into bomb fuel.
Pyongyang also continues to demonstrate its ability to develop new weapons despite strict economic sanctions. Earlier this week, Kim inspected a new type of submarine, according to some media that could be developed to carry ballistic missiles, according to some badysts.
Pyongyang also proceeded to launch a similar short-range missile in May, its first test of its kind since the launch of its intercontinental ballistic missile in 2017.
Mr. Trump then responded by saying that he believed that Mr. Kim would not do anything to jeopardize his country's path to better relations.
He tweeted that Mr. Kim "knows that I am with him and does not want to break his promise".
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