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"China's continued interference with the Philippines' routine and lawful activities in its own exclusive economic zone (EEZ) is unacceptable," the Philippine foreign ministry said in a statement, which announced the charge d'affaires of the Chinese embassy had been summoned and a diplomatic protest lodged in Beijing.
"It infringes upon the Philippines' sovereign rights and jurisdiction," it said, demanding Chinese vessels leave the area.
China's coastguard said on Saturday it took necessary measures against Philippine vessels that were intruding in its waters.
China claims almost the entire South China Sea as its own, including the Second Thomas Shoal, which is within the Philippines' 200 mile (320 km) EEZ.
US President Joe Biden has warned China that the US will defend the Philippines in case of any attack in the disputed South China Sea.
The comments come days after two collisions between Filipino and Chinese vessels in the contested waters.
Mr Biden reiterated his "ironclad" defence commitment to the Philippines.
Manila has contested Chinese claims to the waters, cutting floating barriers and inviting media to film what it calls Beijing's dangerous moves at sea.
It’s been going on for a while.
They have been inviting reporters to witness what China has been doing.