North and South Korea have both fired missiles landing in waters off each other's coasts for the first time.
Seoul retaliated on Wednesday three hours after Pyongyang launched a missile that landed less than 60km (37mi) off the South's city of Sokcho.
The South's military said this was an "unacceptable" breach of its territory.
It fired three air-to-ground missiles in response, which officials said landed a similar distance past the Northern Limit Line (NLL).
The line marks the rough midway-point in the sea between North and South Korea, but the North has never accepted the boundary.
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