The Korea scientific microsatellite, STSAT-1 (Science and Technology Satellite-1), was launched in 2003 and observed far ultraviolet (FUV) airglow from the upper atmosphere with a Far-ultraviolet IMaging Spectrograph (FIMS) at an altitude of 690 km. The FIMS consists of a dual-band imaging spectrograph of 900-1150 (S-band) and 1340-1715 (L-band). Limb scanning observations were performed only at the S-band, resulting in intensity profiles of OI 989 , OI 1026 , NII 1085 and NI 1134 emission lines near the horizon. We compare these emission intensities with those computed by using a theoretical model, the AURIC (Atmospheric Ultraviolet Radiance Integrated Code). The intensities of the OI 1026 , NII 1085 and NI 1134 emissions measured by using the FIMS are overall consistent with the values computed by using AURIC under the thermospheric and solar activity conditions on August 6, 1984, which is close to the FIMS's observation condition. We find that the FIMS dayglow intensity profiles match reasonably well with AURIC intensity profiles for the MSIS90 oxygen atom density profiles within factors of 0.5 and 2. However, the FIMS intensities of the OI 989 line are about 2 similar to 4 times stronger than the AURIC intensities, which is expected because AURIC does not properly simulate resonance scattering of airglow and solar photons at 989 by atomic oxygen in the thermosphere. We also find that the maximum tangential altitudes of the oxygen bearing dayglows (OI 989 , OI 1026 ) are higher than those of the nitrogen-bearing dayglows (NII 1085 , NI 1134 ), which is confirmed by using AURIC model calculations. This is expected because the oxygen atoms are distributed at higher altitudes in the thermosphere than the nitrogen molecules. Validations of the qualities of both the FIMS instrument and the AURIC model indicate that AURIC should be updated with improved thermospheric models and with measured solar FUV spectra for better agreement with the observations. Once the updated AURIC model is available, one can extract valuable information on the densities and compositions of the thermosphere from limb scanning observations with an FUV instrument such as FIMS.