South Korea's Yoon oversees major live-fire drills with U.S.
A total of 2,500 troops took part in the drills in Pocheon, northeast of Seoul, supported by "cutting-edge" military assets, including South Korean F-35 fighters and K9 self-propelled howitzers and U.S. F-16 jets and Gray Eagle drones.
Pyongyang said it was exercising its right to space development and vowed to stage another launch soon to boost its surveillance capabilities against U.S. and South Korean threats.
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The isolated North has previously reacted angrily to the allies' military drills, calling them a rehearsal for its invasion.
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The United States has about 28,500 troops in South Korea.