The Robins found themselves 2-0 down after 65 minutes with Jake Robinson and Danny Stevens netting for the Gulls, but Jeff Goulding found the net 11 minutes from time before Wes Thomas completed a fine recovery for with a last-minute leveller.
Yates said: "I thought the least we deserved was a draw. Against a very good side I thought we were the better team.
"Their first goal is so wrong it's untrue. It was a great strike from the lad, but how the referee has given a free-kick in the first place is beyond me.
"But we have come back from two down and shown a lot of character. There were many positives and we have limited them to two or three efforts on goal.
"The spirit and desire is what I'm looking for along with that winning mentality. It's not always going to be perfect and pretty, but as long as I get that commitment I will be happy."
Source: PA
Source: PA