As the game begins, Kudo's captain Gondola and shipmates have been arrested by General Steiner of the tyrannical Zemorian army. Kudo races after his crew in a bid to free them from imprisonment and soon delves into a larger adventure. The game world in GOC5 is tiered into three layers - an underground domain which is filled with modern conveyances such as automobiles and trains, the surface world which is modeled after a medieval kingdom, and the expanse of the sky which is populated by winged angels, dirigibles, and floating land masses. Kudo's adventure begins in the underground world and gradually moves through the two other layers.

Tactical battles in GOC5 array parties against each other where attacks and magical blasts are shown in real time action. Special battle techniques are also possible where a group of soldiers band together to perform a roundhouse attack to damage all nearby enemies or a group jump where they rise up and then plummet down like hailstones. The game was originally released on the PS2 in 2005 and the PSP update features three new characters, graphical updates, and new voice acting snippets.

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