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Titans were left frustrated as Cinderford punished their indiscipline to claim a 28-20 victory despite the hosts enjoying a promising start.
In front of a crowd of more than 800, Titans dominated possession and territory during the opening exchanges but fell behind after conceding a penalty, which Cinderford converted for a 3-0 lead.
Titans continued to press and earned their reward after Troy Jackson made a break before being brought down, with Tom Putt kicking the resulting penalty to level the scores.
Jackson was forced off following the incident, with Matt Whitlock replacing him.
Cinderford quickly regained the advantage when a Titans clearance was charged down, allowing second-row Tyler Jerrum to score an unconverted try.
The response came five minutes later.
Will Holmes switched play, releasing Whitlock down the blindside, before Freddie Elliott burst through to score.
Putt converted to give Titans a 10-8 lead.
However, Cinderford's driving maul proved difficult to contain and they crossed from a line-out to move 13-10 ahead.
Titans then missed the chance to draw level from the tee before Cinderford struck again in the closing seconds of the half, with full-back Callum McCabe collecting a clever kick through to score.
The conversion was missed, leaving Titans 18-10 behind at the break.
Putt cut the deficit with an early second-half penalty, but Cinderford replied with three points of their own before another successful catch-and-drive produced a converted try and stretched the visitors' advantage.
Titans refused to fold and some clever interplay released Putt to score a try which he converted, reducing Cinderford's lead to eight points.
The hosts continued to attack and had a late opportunity to secure a valuable league point after Cinderford conceded a penalty in the final minute.
However, the kick drifted narrowly wide and Cinderford held on for a 28-20 victory.
Titans now face a short trip to Old Redcliffians, who sit one place above them in the league, while the Warriors travel to Hornets in Weston-super-Mare.