If the prop plane dropped to under 50 ft altitude, the radar would not spot it unless it was within 20 miles or so.
This was a probe and the escape was certainly pre-planned.
Actually, unless the JASDF has an AWACS in the air, the Chicoms could come in at 5000'
The Senkaku are uninhabited, and umilitarized, so the closest radar is in the Yaeyama islands to the south.
The JASDF hace a fairly substantial radar on Miyako
and I would presume a similar station on the two larger Yaeyama islands.
However the closest island is Yonaguni (the little speck to the west).
About a year ago the JGSDF requested funds in the FY2012 budget for a base and mobile radar on Yonaguni, but until, and if, they get that, the only radar would be air traffic radar at Yonaguni Aitport.