The latest "provocation" should serve as a call for all nations to implement far stronger sanctions against the North, it said.
"It was an unidentified projectile that was sacked early this morning", he said.
U.S. President Donald Trump warned in an interview with Reuters last month that a "major, major conflict" with the North was possible, but he would prefer a diplomatic outcome to the dispute.
The North American Aerospace Defense Command (NORAD) determined the missile launch from North Korea did not pose a threat to North America. Trump's administration has signaled that it may use military force to prevent North Korea from developing a missile that can carry a nuclear warhead as far as North America.
Outside militaries will closely analyze what the North fired.
"China opposes relevant launch activities by North Korea that are contrary to Security Council resolutions", China's foreign ministry said in a statement.
Days after South Korea elected Moon Jae-in as their new president and only hours after allegedly telling Al-Jazeera they would be open to talks with the U.S.
He says Japan and the US also started discussing the sanctions on North Korea, but did not elaborate.
Choe Son Hui's comments come amid stepped up worldwide efforts to press North Korea and ease tension over its pursuit of nuclear arms.
Kishida says the worldwide community should prioritize efforts to implement the existing U.N. Security Council resolutions barring North Korea's missile and nuclear technology more thoroughly.
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Choe Son-Hui, a senior official at the North's foreign ministry handling its United States policy, also said Saturday the North would be willing to hold talks with the USA if the conditions are right.
Mr. Trump also referred to North Korean dictator Kim Jong Un as a "pretty smart cookie".
These tests included the near-simultaneous firing of four ballistic missiles into the Sea of Japan in March - a move the North said was a rehearsal for attacking USA bases in Japan.
Moon has taken a much more conciliatory position towards the North compared to his predecessor Park Geun-hye, who was removed from office in a corruption scandal.
North Korea launched the Pukguksong-2 missile, an upgraded, extended-range version of its submarine-launched ballistic missile from the same Kusong site on Feb 12.
Choi said Pyongyang would be willing to meet with the Trump administration for negotiations "if the conditions are set", briefly to reporters en route to Pyongyang.
Other Americans in the group include Thomas Pickering, who had been a US ambassador to the United Nations and a former under secretary of state, and Robert Einhorn, who served as USA special adviser for nonproliferation and arms control.
Sunday's test was the 10th North Korean missile to be fired this year across six separate tests.
"We strongly protest against North Korea", he said.
North Korea explicitly threatened "war" against the CIA this week, having accused it of working with South Korean intelligence on a plot to assassinate North Korean dictator Kim Jong-un with a combination of chemical weapons, biological weapons, nanotechnology, and lumberjacks.
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