The launch happened hours after South Korean and U.S. troops kicked off their large annual combined drills, which the North views as an invasion rehearsal.

South Korea and the United States have begun their annual joint military exercises, but they paused live-fire training while Seoul investigates how two of its fighter jets mistakenly bombed a civilian

North Korea fired several ballistic missiles into the sea after South Korea and the U.S. kicked off their first major joint military exercise of President Donald Trump’s second term.