Seoul: As part of a record-breaking series of weapons tests by Pyongyang over the past 24 hours, North Korea fired an intercontinental ballistic missile on Thursday, but the launch appears to have failed, according to Seoul's military.

The military in Seoul said the launch of the ICBM by North Korea was "considered to have ended in failure," adding that a second stage separation attempt had failed.

An intercontinental ballistic missile (ICBM) and two short-range ballistic missiles were detected early Thursday, according to Seoul's Joint Chiefs of Staff.

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According to the Army, the long-range ballistic missile has a range of about 760 km, an altitude of 1,920 km and a speed of Mach 15.

The short-range ballistic missiles traveled at a speed of Mach 5 and traveled approximately 330 km at an altitude of about 70 km.

The military said North Korea's repeated ballistic missile launches are a serious provocation that threatens the peace and stability of not only the Korean peninsula but the rest of the world.

South Korea's military is ready to retaliate for any provocation by North Korea.

The launch comes as hundreds of warplanes from both sides participate in Vigilant Storm, the largest joint air drill ever between Seoul and Washington. They will end on Friday.

The joint US-South Korean air exercise has been dubbed by Pyongyang as "an aggressive and provocative military exercise targeting the DPRK" and Pyongyang has threatened that if it continues, Seoul and Washington will "pay the worst price in history".

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On Wednesday, North Korea launched more than 20 missiles, one of which struck close to South Korea's territorial waters and was described by Seoul as "effectively a territorial offensive".

North Korea is believed to have failed in a March attempt to test the Hwasong-17, the largest and most powerful ICBM in Kim Jong Un's arsenal.

According to reports from Seoul and Washington, Pyongyang, the capital of North Korea at the time, was visible in the sky above the missile blast.

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According to Seoul's military at the time, an additional ICBM test is believed to have failed in May.