Spain’s OPV Vigia P73 edged into the East side of the British waters and was then chased for an hour along the coastline by the UK’s HMS Sabre. Gibraltar is a UK Overseas territory connected to Spain’s south coast. Madrid maintains its claim to the land, which was ceded to the British crown in 1713.
The issue of Gibraltar has caused conflict in Theresa May’s Brexit discussions with the EU, with some fearing the Spanish government may try to manoeuvre the negotiations to reclaim control over the peninsula.
Spanish Prime Minister Pedro Sanchez said in November he took issue with Article 184 of Mrs May’s Brexit deal, which states that the EU and UK will seek to “negotiate rapidly the agreements governing their future relationship”.
He said he believed this is too ambiguous and he wanted to ensure this does not apply to Gibraltar.
Instead, Spain wants to ensure it can engage in bilateral talks with the UK over Gibraltar’s future.

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The latest alternation in British territorial waters around Gibraltar could indicate Spain stepping things up a notch.
Spain was also accused of a power grab after the EU branded it a British “colony” in key no deal Brexit legislation.
Spanish politicians overthrew British MEP Claude Moraes in their efforts to push through the controversial description.
Included as a footnote in the legislation that will allow British travellers visa-free access to the Continent, Gibraltar was called a “colony of the British crown”.
The legislation was voted through earlier this month by the EU Parliament LIBE committee after Mr Moraes was fired as the legislation’ rapporteur on Monday.
Conservative MEP Daniel Dalton accused Madrid of playing politics with Gibraltar.
He said: “The Spanish government lies playing politics with Gibraltar when it’s down in the polls.
“It would be better if the EU didn’t fall for these tricks and instead respect the Gibraltarians wish to remain British.”
Meanwhile, Spain brazenly revealed its plans to make Gibraltar “more Spanish”.
Secretary general of the People’s Party (PP) Teodoro Garcia Egea unveiled plans to drain the Rock of its Britishness and “move towards the Spanishness” of Gibraltar.