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A day after launching at least 23 missiles, including one that for the first time touched down off the coast of South Korea, the nuclear-armed North fired a ballistic missile on Thursday that passed over Japanese territory, according to alerts in Japan.

The Japanese government's radio warning system advised citizens in central Japan to seek indoor shelter.

The missile launch, which occurred over North Korea's east coast, was also reported by the military of South Korea.

According to the Yonhap news agency, the missile underwent stage separation, raising the possibility that it is a long-range weapon.