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Sunday's test lasted 35 minutes, with the missiles launched in succession from the Sunan area near the North Korean capital of Pyongyang.
Japan's defence minister Nobuo Kishi said the launch "cannot be tolerated".
It is not yet clear how far the missiles travelled, but Mr Kishi said at a briefing that at least one missile had a variable trajectory, which indicates it could manoeuvre to evade missile defences.
news.sky.com...