South Korea soldiers stand on the Unification Bridge that leads to the demilitarised zone (DMZ) between North and South Korea in Paju in August 2015.
While North Korea regularly tests shorter range missiles, it is also working to master the technology needed to field nuclear-tipped missiles that can reach the USA mainland.
The latest test launch comes amid increased tensions between North Korea and the US under the administration of President Donald Trump.
The nuclear bomb has been made lighter so it can be carried on a ballistic missile.
The test was meant to examine the "technical details and characteristics" of a new type of rocket "capable of carrying a powerful and big nuclear warhead", KCNA news agency said.
The following day South Korea's Defense Minister, Han Min-koo, told the South Korean Parliament that North Korea's ballistic missile program appeared to be advancing faster than expected.
When asked if the launch indicated that North Korea's missile program was developing faster than expected, Han responded, "yes".
Harris, however, stressed that China and Russian Federation, the North's traditional backers, can no longer look the other way.
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The Terminal High Altitude Area Defense (THAAD) and the North's threats are expected to be high on the agenda when Moon meets US President Donald Trump in June. Experts said that rocket flew higher and for a longer time than any other missile previously tested by North Korea, and that it could one day reach targets as far away as Hawaii and Alaska. He stressed that the US only conveys messages publicly and will not hold dialogue with the North out of public view. Pyongyang is threatening a sixth nuclear test.
South Korea's President Moon Jae-in.
The Security Council adopted two sanctions resolutions past year to ramp up pressure on Pyongyang and deny leader Kim Jong-Un the hard currency needed to fund his military programs. It has also regularly threatened South Korea and Japan of strikes for colluding with the United States.
North Korea will never abandon its "nuclear deterrence for self-defense and pre-emptive strike capability" even if the USA ratchets up sanctions and pressure "to the utmost", Kim said.
"Our most basic stance is that communication lines between South and North Korea should open", Lee Duk Haeng, a spokesman for the South's Unification Ministry, told reporters yesterday.
The United States wants North Korea to trust its promise of no hostility and conduct no more nuclear or missile tests before Washington can consider opening talks with the communist nation, Secretary of State Rex Tillerson was quoted as saying Thursday.
Moon's envoy to the US, South Korean media mogul Hong Seok-hyun, left for Washington early on Wednesday.
He is quoted as saying that South Korea had not yet received official word from the United States on whether Seoul should pay for U.S. missile defense THAAD.