Determined to achieve a decisive victory against the Birkebeiners, Magnus returned with his fleet the next year. The two forces met at sea 31 May 1181 in the Battle of Nordnes. The battle ended in a tactical victory for the Birkebeiners; the Heklungs fled when Magnus was mistakenly believed to have been killed. With his men in poor shape, Sverre decided to withdraw to Trøndelag. Some attempts at negotiation were now made, but these soon broke down. Magnus would not accept Sverre as co-king with equal status, and Sverre could not accept becoming Magnus' vassal.