Malaysia is a country in Southeast Asia. The federal constitutional monarchy consists of thirteen states and three federal territories, separated by the South China Sea into two regions, Peninsular Malaysia and Borneo's East Malaysia. Peninsular Malaysia shares a land and maritime border with Thailand and maritime borders with Singapore, Vietnam, and Indonesia. East Malaysia shares land and maritime borders with Brunei and Indonesia and a maritime border with the Philippines and Vietnam. Kuala Lumpur is the national capital and largest city while Putrajaya is the seat of the federal government. With a population of over 32 million, Malaysia is the world's 43th-most populous country. The southernmost point of continental Eurasia is in Tanjung Piai. In the tropics, Malaysia is one of 17 megadiverse countries, home to a number of endemic species. Malaysia has its origins in the Malay kingdoms which, from the 18th century, became subject to the British Empire, along with the British Straits Settlements protectorate. Peninsular Malaysia was unified as the Malayan Union in 1946. Malaya was restructured as the Federation of Malaya in 1948 and achieved independence on 31 August 1957. Malaya united with North Borneo, Sarawak, and Singapore on 16 September 1963 to become Malaysia. In 1965, Singapore was expelled from the federation. The country is multi-ethnic and multi-cultural. About half the population is ethnically Malay, with large minorities of Chinese, Indians, and indigenous peoples. While recognising Islam as the country's established religion, the constitution grants freedom of religion to non-Muslims. The government is closely modelled on the Westminster parliamentary system and the legal system is based on common law. The head of state is an elected monarch, known as Yang di-Pertuan Agong, chosen from the hereditary rulers of the nine Malay states every five years. The head of government is the Prime Minister. After independence, the Malaysian GDP grew at an average of 6.5% per annum for almost 50 years. The economy has traditionally been fuelled by its natural resources but is expanding in the sectors of science, tourism, commerce and medical tourism. Malaysia has a newly industrialised market economy, ranked third-largest in Southeast Asia and 33rd-largest in the world. It is a founding member of ASEAN, EAS, OIC and a member of APEC, the Commonwealth and the Non-Aligned Movement.