The Joint Chiefs of Staff (JCS) said it detected a missile launched from Wonsan, Kangwon Province at around 6 a.m. and is analyzing the launch including details about the missile.
"South Korea, the U.S. and Japan are closely sharing information on the launch and maintaining full readiness," the JCS said.
The launch was the North's 11th provocation of this year, just less than a week after North Korea fired a short-range ballistic missile from the same area last Thursday.
It also came just ahead of South Korea's joint military exercise with the U.S., dubbed Ulchi Freedom Shield (UFS), which is set to begin its 10-day drills next Monday.
North Korea has often protested against the annual exercise with missile launches and other provocations, calling it a "rehearsal for an invasion" by what it describes as "warmongers."
The JCS said it has stepped up surveillance and maintained vigilance against possible additional launches.
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