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When you complete a playthrough in Arcade mode with Warlock without using continues Zero Gouki will become unlocked as a playable character.
To be able to fight Zero Gouki you must have him unlocked, once you have him unlocked set the difficulty to 5 or highter and play through Arcade mode with Gawine Murdock.
The following characters can be unlocked permanently by completing the corresponding task.
Gaits:
Beat the game as Chiyomaru & Tessan on any difficulty setting.
Helion:
Beat the game as Shade on any difficulty setting.
Super-8:
Beat the game as Devilotte on any difficulty setting.
ZeroGouki:
Beat the game with Warlock on any difficulty setting without using a 'Continue'.
Warlock:
Unlock Gaits, Helion and Super-8.
Select any character in Versus mode and at the area select screen highlight the 'Random' option. Then hold L2 and press Circle to play as Gouki.