SEOUL, South Korea — North and South Korean naval vessels exchanged fire in disputed waters off the western coast of the Korean Peninsula on Tuesday, leaving one North Korean vessel engulfed in flames, South Korean officials said.

The two Koreas accused each other of violating territorial waters, provoking the fierce two-minute skirmish. It was the first border fighting in seven years between the countries, which technically remain at war after fighting in the 1950-3 Korean War ended in a truce rather than a permanent peace treaty.

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