North Korea fires missiles after arrival of second US submarine in South Korea

North Korea fired ballistic missiles into the sea off its east coast following the arrival of a second US submarine in South Korea.
The US has deployed nuclear-powered submarines USS Annapolis and USS Kentucky to South Korea as a show of force against North Korea.
North Korea views the US submarine presence as provocative and has responded with missile tests and threats of using nuclear weapons.
An American soldier recently crossed into North Korea but Pyongyang has remained silent about his status.
The US and allies condemn North Korea's latest missile tests and urge diplomacy to reduce tensions on the Korean Peninsula.