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The 5,000-km range missile was test-fired from an island off Odisha coast.
The defence ministery dubbed the incident as 'deeply regrettable' after Pakistan lodged strong protest.
The launch was conducted by Brahmos Aerospace in close coordination with DRDO teams.
Under the deal negotiated with the government of India, Brahmos Aerospace Private Ltd will deliver three batteries, train operators and maintainers, and provide logistics support.
Describing the mission as a 'major milestone' in the development of BrahMos, the sources said that the air version of the missile was test-fired from supersonic fighter aircraft Sukhoi 30 MK-I at 10.30 am.
It was for the first time ever the three Services tested the readiness of BrahMos systems within the duration of one week.
More launches of the missile on different modes are lined up this week to test the accuracy of the weapon.
INS Chennai has the enhanced capability of carrying a total of 16 BrahMos missiles in two eight-cell vertical launch systems, besides other sophisticated weapons and sensors.
The supersonic and advanced ALCM with its proven capabilities for the Indian Air Force (IAF) there by becomes the first indigenous weapon to get the critical FRC.
Onmanorama caught up with Dr Sudhir Kumar Mishra, the CEO & MD of BrahMos Aerospace, for an update on a missile that has no competitor yet in the world market.