The launch was the North's first this year.
North Korean leader Kim Jong Un said he would boost national defenses to cope with what he called an unprecedented U.S.-led confrontation.
The Pentagon isn't considering withdrawing the extra troops anytime soon.
North Korea claimed Wednesday to have successfully placed a spy satellite into orbit with its third launch attempt this year.
The Navy requested a cap increase on the number of marine mammals it is allowed to unintentionally harm during Pacific training.
South Korean and U.S. troops have been conducting live-fire exercises.
The Silent Shark exercise comes as the aircraft carrier Ronald Reagan completed a port visit to Busan this month.
South Korea's air force says the drill involved a B-52 bomber from the United States and fighter jets from South Korea and Japan.
Two officials who spoke to The Associated Press said Pvt. Travis King is facing charges including desertion and possessing sexual images of a child.
By Lolita C. Baldor
North Korea is calling the arrival of a U.S. aircraft carrier battle group in South Korea a provocation.
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