Television news broadcasts and the front pages of morning newspapers Thursday showed images of the launch, conducted in the early hours the day before. The test sent a "Pukguksong" missile soaring from a submerged position off the North's port city of Sinpo.
It flew an estimated 500 kilometers toward the seas around Japan, the longest distance it has yet achieved in a submarine launch.
Launching long-range ballistic missiles from submarines is stealthier than land launching. Having that capability could significantly strengthen Pyongyang's ability to conduct strikes on US positions in South Korea, and possibly on U.S. bases in Japan as well.
The North has attempted two such launches before, but neither was seen as successful by outside experts.
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As the news of the missile test was broadcast on a large screen outside Pyongyang's main train station Thursday, dozens of people stood in the rain to watch.
The test came as the US and South Korea are conducting their annual, 12-day Ulchi Freedom Guardian exercises south of the Demilitarized Zone.
Though the North has protested such exercises for decades, prompting regular spikes in tensions on the divided peninsula, Pyongyang has been particularly alarmed by reports that the maneuvers have recently started to include training for an invasion of the North and precision strikes, or "beheading operations," against its top leaders.