At the title screen, press Up, Down, L1, R2, R1, L2, Left, Right, Select. Then at the options menu, choose the "Support AI" selection to access Tex.
At the title screen, press Left, Right, R1, L2, L1, R2, Up, Down, Triangle, Select. Then at the options menu, choose the "Support AI" selection to access Rachel.
Beat the game and save it to a memory card. Then load the saved data from the title screen, highlight "Game Start", and press Left. Now the game may be replayed in Super mode, which allows you to jump six levels instead of three. Press the jump button each time the full height of the jump is reached.
Beat the game in Super mode. Then, it may be repeated with greater difficulty in Extra mode.