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Returning captain Doug Loft felt his side deserved at least a point from their trip to Burton.
A late goal condemned the Gills to defeat at Championship-bound Albion. But Loft, back after missing the last eight games through injury, said: “We deserved to take something from the game, to even win it to be honest.
“We had the chances and we played some nice stuff at times.”
Loft was an early substitute, replacing injured Aaron Morris who left the field with a knee injury.
He said: “I was very pleased to be back and not expecting to be out there so quickly, I thought I would maybe get 20-30 minutes but I felt good and sharp.
“First 10 minutes I was knackered but after that I felt okay. It was nice to be back but would have been nicer to have got the win.”
Defeat leaves the Gills on the brink, needing results to go their way on the last day to claim a play-off place.
It took some time for news to filter through to the players that they still had a chance, despite defeat. They were in the dressing room as Colchester bagged a 98th-minute goal against Barnsley to keep Gills in the hunt.
Loft said: “We came off at the end and we were out but then Colchester scored in the last minute (at Barnsley) and we still have a chance. We have to regroup now and go and get a win against Millwall."