Queen's Blade: Grimoire

Alicia's trying to summon strong fighters to gain an edge in the next QB, and Kyuel comes through, recognizes Gainos at a glance and says that wasn't where she wanted to go, Alicia follows her and they lose that skirt (a gift from Kyuel's boss, probably Nanael?).

Alicia finds herself lost in Melfairland after the angel Quel drags her there. There, the great pirate captain Lilliana has suddenly appeared, plundering treasures from across the land. After suceeding in a raid of magic sword princess Kaguya's mansion, Lilliana sets her sites on the Undersea Kingdom. The princess of the Undersea Kingdom named Tiina dreams to be a part of the world above and yearns to participate in their dance parties. Tricked by Seiten, she obtains two legs to stand on, but gets dragged into the fight for treasure along with Alicia.