The declaration was made on Monday morning from an inflatable boat sailing down a river before it picked up more people from a beach near Calais and travelled across the English Channel.
Footage, captured a day after another migrant died attempting the journey, showed a group travelling on a black dinghy towards the sea.
Dozens later waded into the water at Gravelines and pulled themselves on to the boat.
It comes as latest figures show a record number of crossings for the first seven months of a calendar year.
The Home Office said 255 migrants made the journey on Sunday, taking E the provisional total for the year so far to 16,457.
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