The submerged robot, which evidently can convey an atomic weapon, was tried off the east coast, state media said.
No other proof of the tests is being directed and Seoul had before said the North's depictions of the robots' capacity were overstated.
South Korea considered the detailed tests a "incitement".
It "undermines tranquility on [the] Korean Promontory and the world," the South Korea's guard service said, adding: "In the event that North Korea straightforwardly incites us, we will answer in a mind-boggling way following the standard of quick, solid, and terminal activity."
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The North has guaranteed trial of its "Haeil-5-23" framework previously, however the most recent occurrence comes as the North has sloped up military activity as of late.
On Sunday, it professed to have conveyed another strong fuelled halfway reach long range rocket.
That followed live-fire drills at the oceanic boundary with South Korea in the primary seven day stretch of January.
Pyongyang pioneer Kim Jong Un has likewise been progressively forceful in his approach heading and manner of speaking - finishing a few arrangements focused on harmony keeping lately.
On Friday, North Korea said it had been incited by joint drills by Washington, Seoul and Tokyo to complete a trial of its submerged weapons, as indicated by a report by state organization KCNA.
It blamed the activities for "additional undermining what is going on" and compromising the North's security.
The US, South Korea and Japan say they have directed more practices in the previous year as a prevention reaction to the rising recurrence of North Korea's tactical activities, which incorporate various trial of its atomic long range rockets and dispatches of new weapons. All such activities are in break of UN sanctions.
However, Mr Kim has over and again said his system is developing military stockpile in anticipation of war could "break out whenever" on the promontory.
Over the New Year time frame, he flagged a principal strategy shifts in his system's position to South Korea.
Furthermore, recently he proclaimed the previous bedrock objective of re-unification with South Korea was finished, assigning the South as the "head adversary".
The manner of speaking follows a few guaranteed propels in his nation's military and atomic capacities - remembering for its submerged tasks.
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