It came after a US military ship arrived in South Korea, and before a visit by the US vice president.
North Korea has fired a suspected ballistic missile towards the sea off its east coast, South Korean military officials have said.
South Korean state-run media said its neighbour may be preparing to test a submarine-launched ballistic missile.Japan's coast guard confirmed the launch, warning ships to "be vigilant". It said the object appeared to have fallen outside its exclusive economic zone.
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