It is North Korea's first public weapons test since the second US -North Korea summit in Hanoi ended with no agreement in February.
"Just as this week's "tactical weapon" test was a signal to warn Trump that his much-vaunted "freeze" is in jeopardy, the verbal attack on Pompeo is meant to encourage Trump to ignore his hardline advisers and make a deal with his "friend" Kim Jong Un", said Daniel Russel, the top U.S diplomat for East Asia until early in Trump's administration.
It was the first official report of a weapons test by North Korea since Kim and Trump's historic summit in Singapore over Pyongyang's nuclear and missile programme.
During a speech at Texas A&M University on Monday, Pompeo said Kim promised to denuclearize during his first summit with President Donald Trump and that USA officials were working with the North Koreans to "chart a path forward so we can get there".
Harry Kazianis, the Korean studies director for the USA -based Center for the National Interest, noted that Kim never promised to stop all weapons testing. "If he really wanted to do a formidable, important, heavy message to the US or South Korea, he would not have done a minimal test".
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"However, the US did not detect a missile launch either time so it must be a short-range system, perhaps an artillery system such as a multiple rocket launcher or an antitank guided missile", Klingner told WaPo.
But the missile has a "peculiar mode of guiding flight" and "a powerful warhead", the agency said.
"We will continue to press North Korea to abandon all of its weapons of mass destruction, ballistic missiles related programs and facilities", Pompeo said.
North Korea's official Rodong Sinmun newspaper said earlier that Kim supervised the weapon test at the Academy of Defense Science on Wednesday. But he could provide important political cover or economic aid for North Korea - and a potential headache for Trump - if he chooses to play a bigger role.
The pro-Kremlin Izvestia newspaper cited a diplomatic source on Wednesday as saying the Putin-Kim meeting would likely take place next week in Russia's Far Eastern city of Vladivostok before Putin flies on to an April 26-27 summit in China.
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Joseph Yun, who served as USA special representative for North Korea until past year, said North Korea had always been dubious about Pompeo, seeing him as a hardline conservative skeptical of engagement with North Korea.
"Looks like they are working on antiaircraft capabilities with the last test and this one", said Victor Cha, a North Korea expert at Georgetown University. The second summit collapsed because of disputes over US -led sanctions on the North. Kim is to visit Russia for a summit with Russian President Vladimir Putin later this month.
The North's latest weapon test report comes after South Korean President Moon Jae-in said Monday he wanted a fresh meeting with Kim "regardless of venue and form".
Moon has expressed an eagerness to engage with the North on such projects, but Washington wants it to stick to sanctions.