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When you collect each of the green gems in ALL the levels you will unlock the 'Concept Art' and 'Character Models' options in the 'Features' menu.
When you collect each of the 8 Atlantean Symbols in a level you will unlock the corresponding FMV sequence under the 'Movie Viewer' option.
At the 'Title' screen hold X + Circle + Square + Right and start the game. Then hold L1 + R1 when playing as Milo to receive unlimited lives. Note: If you have entered the code correctly Milo will say 'Great' as confirmation.