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On 21 August, the Royalists attacked Essex's positions north of Lostwithiel, capturing the ruins of Restormel Castle.
Royalist cavalry threatened to cut the Parliamentarians off from Fowey.
Essex realised that there was no hope of relief and ordered his cavalry to break out of the encirclement.
Under Sir William Balfour, they broke through the Royalist lines on the night of 31 August, eventually reaching Plymouth 30 miles to the east.

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