The surface-to-surface, single-stage missile, powered by solid propellants, was test-fired from a mobile launcher at 0933 hrs from launch pad-4 of the Integrated Test Range at Wheeler Island, about 100 km from here.
"The test-fire of the ballistic missile was fully successful," ITR Director M V K V Prasad said.
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The Agni-I missile has a specialised navigation system which ensures it reaches the target with a high degree of accuracy and precision, he said.
Weighing 12 tonnes, the 15-metre-long Agni-I, which can carry payloads up to 1000 kg, has already been inducted into the Indian Army.
Agni-I was developed by advanced systems laboratory, the premier missile development laboratory of the DRDO in collaboration with Defence Research Development Laboratory and Research Centre Imarat and integrated by Bharat Dynamics Limited, Hyderabad.
The last trial of the sophisticated Agni-I missile was successfully carried out on December 12, 2012 from the same base.
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