Use any characters in any mission:
Beat the game once and you will be able to play as any character you want to in any of the missions.
Alternate Costume Color:
If you beat the game once it will unlock alternate colors for your character's costume.
In Quest mode, when you have Ivy, Taki, Astaroth, Mitzurugi, and Sophitia. There is a scence in Chapter 3 featuring Lloyd Irving from Tales Of Symphonia. Once the scene ends, a fight will start. After the fight stops and a new one will start. If you win them Lloyd Irving will join your group.
Unlocking 3rd and 4th weapons:
||How to Unlock
|3rd weapon for each character-
||You must complete the quests following chapter 5
|4th weapon for each character-
||Reach a Paladin, Master, and final rank for your quest.