Grad type rocket designed to destroy a Soviet tanker in the attack, which is "the first of these types of rockets in recent months," said a military spokesman.
Type of Grad rockets have a range of up to 40km at about twice the range of Qassam rockets used by Palestinian fighters in Gaza.
The attack came a day after two mortar fired from Gaza hit southern Israel, which caused no casualties or property damage, and two days after an Israeli air strike that killed a senior Palestinian militants in Gaza City.
Israeli made rocket attacks from Gaza as the reason for the 22-day offensive in December 2008 that killed more than 1,400 Palestinians.
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