I've managed to find a way into the Black Garden without having to be in the mission. It requires getting outside of the normal Mars boundaries and there's a really easy way to do it.There's no enemies that spawn in, no death barriers unless you fall really far under the map, and the place is all colored like after you beat the boss. It's a pretty cool area to explore, but that's about all you can do. All of the shield doors are up and you can only get around a few.
If anyone has a capture card and is willing to on 360, I'll show you how to get outside of Mars to get here. My gamer tag is ERRM.
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I made a cheesy phone recording showing how to get out of Mars. I also figured out how to get out of Venus during the Nexus strike.
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Someone get this guy a capture card