ANKARA, Turkey ��" Turkey withdrew its ambassador to Israel and cancelled three joint military drills on Monday after Israeli commandos killed at least 10 people and wounded dozens aboard a Palestinian aid convoy unofficially sponsored by Turkey. Furious Turkish protesters tried to storm Israel's Consulate in Istanbul then marched towards the city's main square denouncing Israel over the deaths, which drew condemnation from around the world. Arab countries expressed outrage and European nations with passengers aboard the ships summoned the Israeli ambassadors to their countries and called for an investigation. The raid was a devastating blow to relations between the long-time allies, already deeply strained by tensions over Israeli actions in Gaza. Prime Minister Recep Tayyip Erdogan was cutting short his Latin America tour and was expected to return home on Tuesday. Three of the ships were Turkish-flagged, including the main passenger ship, and the convoy was led a pro-Islamic Turkish aid group.