After the Crusaders had driven the Muslims from Acre, Philip—in company with Frederick's successor in command of the German crusaders, Leopold V, Duke of Austria—left the Holy Land in August 1191. Following a major victory by the Crusaders at the Battle of Arsuf, most of the coastline of the Levant was returned to Christian control. On 2 September 1192 Richard and Saladin finalized the Treaty of Jaffa, which recognised Muslim control over Jerusalem but allowed unarmed Christian pilgrims and merchants to visit the city. Richard departed the Holy Land on 9 October 1192. The successes of the Third Crusade allowed Westerners to maintain considerable states in Cyprus and on the Syrian coast.