Pyongyang successfully tests a "new type" of Submarine-Launched Ballistic Missile, state media KCNA reports.
The missile, called Hwasong-8, performed to its technical specifications "including the guiding maneuverability and the gliding flight characteristics of the detached hypersonic gliding warhead," state media KCNA reports.
The missiles are "a strategic weapon of great significance" and flew 1,500 km before hitting their targets and falling into the country's territorial waters, state media said.
North Korean leader Kim Jong-un presided over a video conference meeting of the ruling party's Central Military Commission, where members decided to suspend the military plans. Kim's sister warned last week of military action against the south.
For several days, North Korea has lashed out at South Korea, threatening to close an inter-Korean liaison office and other projects if the South does not stop defectors from sending leaflets and other material into the North.
North Korean leader Kim Jong-un made his first public appearance in 20 days as he celebrated the completion of a fertilizer factory near Pyongyang, state media said, ending an absence that triggered global rumors that he was seriously ill.
The string of weapons drills come as a prolonged hiatus in disarmament talks with the United States drags on, and despite recent overtures from Washington offering help to contain the pandemic.
North Korea's latest missile launches were meant as a warning to Washington and Seoul over their joint war games, the North's leader Kim Jong Un said, according to state news agency KCNA.
North Korea is saying that it had test-fired a new type of "tactical guided weapon," its first such test in nearly half a year. The country is also demanding the removal of US Secretary of State Mike Pompeo from talks over its nuclear programme.
Emulating his late father and grandfather, who took epic train trips when they were leaders, Kim set off on the long journey from Pyongyang, with a military honour guard seeing him off in the North Korean capital.
North Korean state media says the US President Donald Trump agreed to remove sanctions against Pyongyang in addition to providing security guarantees in the "historic" summit with the North's leader Kim Jong-un.
The US had not requested talks with North Korea, but Pence left open the possibility of some contact although his message for denuclearisation remained unchanged.
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