Portugal's first king, Afonso I. The battle occurred off Cape Espichel, with a Portuguese naval squadron, commanded by the knight Fuas Roupinho, defeating a Muslim naval squadron. Fuas Roupinho also made two incursions at Ceuta, in 1181 and 1182, and died during the latter of these attempts to conquer the North African city. During the 13th century, in the Reconquista, the Portuguese naval forces helped in the conquest of several coastal Moorish towns, like Alcácer do Sal, Silves and Faro. It was also used in the battles against Castile—through incursions in Galicia and Andalusia—and also in joint actions with other Christian fleets against the Muslims. King Denis gave a permanent organization to his naval forces, appointing Manuel Pessanha of Genoa to be the first Admiral of the Kingdom, on the 12 December 1317. This is considered the official date of foundation of the Portuguese Navy, with its 700 years being commemorated on the 12 December 2017. In 1321, the Portuguese Navy successfully attacked Muslim ports in North Africa. Maritime insurance began in 1323 in Portugal. Between 1336 and 1341, the first attempts at maritime expansion are made, with the expedition to Canary Islands, sponsored by King Afonso IV. In the context of the 1383–85 Crisis, the Portuguese Navy took an active participation in the war against Castile. A Portuguese naval campaign conducted in Galicia led to the conquest of the coastal towns of Baiona, A Coruña and Neda, as well as the destruction of the naval base of Ferrol and of several ships that were on the way to reinforce the Castilian forces that were besieging Lisbon. In July 1384, the Portuguese Navy was able to break the Castilian siege of Lisbon and to supply the city, defeating the Castilian Navy in the naval battle of the Tagus. 15th and 16th centuries In the beginning of the 15th century, the country entered a period of peace and stability. Europe was still involved in wars and feudal conflicts which allowed Portugal to be the only capable country to methodically and successfully start the exploration of the Atlantic. Portuguese expansion during the 15th century can be divided in: Territorial expansion to North Africa Hydrographic survey of the African coast and Canary Islands Oceanographic and meteorological survey of the Atlantic Ocean Development of navigation techniques and methods Territorial expansion began in Morocco with the conquest of Ceuta in 1415. Exploration in the west