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When the indicated requirements are met the corresponding secret mechs will become unlocked.
Elmeth:
If Getter Q joined, then it is unlocked after episode 7B if Amuro convinced Lalah after defeating Char.
Getter Q:
Keep Michiru alive during episode 4.
Gunblastor:
Unlocked after episode 6B if Getter Q joined.
Kochouki:
During episode 8 convince Kochouki with the Getter Team while Kochouki has less than 33% of it's maximum HP.
Minerva X:
If Kochouki didn't join then during episode 9 convince Minerva X with Kouji.
Qubeley Mk-II:
During episode 15 convince Puru with Judau then during episode 19 convince Puru twice with Judau.
Second V Gundam:
Keep Oliver alive during episode 3A or clear episode 3B in 7 or more turns.
Valsione:
During episode 21, deploy Masaki and keep him on the map until the last possible turn.
Zoloat:
It is unlocked after episode 17 if Getter Q did not join.
The following secret pilots will become unlocked when the indicated requirements are met.
Four Murasame:
If Getter Q didn't join, then during episode 10 convince Four with Kamille after the third turn.
Lalah Sune:
If Getter Q joined, then during episode 7B convince Lalah with Amuro and then have Amuro battle Char during episode 16.