Satoru Sao manga adaptation of the second Part of the GATE's Light Novels.

Captain Gorou Edajima, a seasoned captain who has visited the various countries of the Special Region on a research mission, and master cook Petty Officer, 1st Class Hajime Tokushima were given a special mission: rescue an American journalist kidnapped in the Special Region! Aboard an Oyashio-class attack submarine, they set out onto the seas of the Special Region, but little did they know their mission would lead them headfirst into a whirlpool of petty rulers and pirates vying for control in the Blue Sea... 
 
(Source: AlphaPolis, translated)

Thanks to the efforts of Lieutenant Yoji Itami (now Lieutenant First Class) of the Japan Ground Self-Defense Force, the once-closed "GATE" has safely reopened. The Japanese government, determined to maintain exclusive control over the "GATE", continues mobilizing the Self-Defense Forces for political and topographical surveys to build a peaceful relationship with the inhabitants of the Special Region. Captain First Class Edajima Goro of the Japan Maritime Self-Defense Force (JMSDF) and his subordinate, Petty Officer Second Class Tokushima Hajime, a skilled former chef, were conducting such diplomatic and investigative missions, traveling across the various nations of the Special Region. 

However, one day, their assignment suddenly escalates when they're tasked with a special mission to rescue an American journalist kidnapped on an island in the Special Region's Blue Sea. 

Immediately boarding the JMSDF Oyashio-class submarine Kitashio, they set sail into the ocean of another world, discovering the area around the Blue Sea engulfed in turmoil, with archipelago nations and pirates battling fiercely for dominance. 

(Source: GATE 2: Tides of Conflict Site)

One day in the 21st century, a gate opened in the middle of the Ginza district of Tokyo. Out of the gate poured soldiers and strange creatures, and they soon made Ginza look like an image of hell. The gate apparently connected Japan to another world, a world with a militant empire and many supernatural creatures. The Japanese Self-Defense Force decided to send a small group, led by a soldier who's also an otaku, into the other world on a reconnaissance mission. They're meant to learn what they can about the empire (and its plans), the world, and the people. 
They're hardly in the world yet, though, when they come across a village destroyed by a giant fire-breathing dragon. The only survivor is an unconscious elven girl they find hidden in a well. Now they feel like they must warn the nearby towns about the dragon, and do what they can to help. On the way, they'll meet more magical, female companions, and learn more about this dangerous new world.

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