The missile was launched near Kusong, north-west of the capital, Pyongyang, and flew 700km (430 miles), it said.
North Korea has carried out a series of missile tests this year, causing international condemnation and increasing tensions with the US.
Two missile launches last month both failed, with the rockets exploding just minutes into flight.
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South Korea and Japan both condemned the latest launch. The South's new President Moon Jae-in convened an emergency meeting of his security council to discuss the issue, Yonhap news agency reported."
North Korea carries out new ballistic missile test - BBC News
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