  Using the technique of point source atom interferometry, we characterize the
sensitivity of a multi-axis gyroscope based on free-space Raman interrogation
of a single source of cold atoms in a glass vacuum cell. The instrument
simultaneously measures the acceleration in the direction of the Raman laser
beams and the component of the rotation vector in the plane perpendicular to
that direction. We characterize the sensitivities for the magnitude and
direction of the rotation vector measurement, which are 0.033
$^{\circ}/\mathrm{s}$ and 0.27 $^{\circ}$ with one second averaging time,
respectively. The sensitivity could be improved by increasing the Raman
interrogation time, allowing the cold-atom cloud to expand further, correcting
the fluctuations in the initial cloud shape, and reducing sources of technical
noise. The unique ability of the PSI technique to measure the rotation vector
in a plane may permit applications of atom interferometry such as tracking the
precession of a rotation vector and gyrocompassing.
