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OK, to find the allies, go to your Panzer setup screen, and hit or until you get to the screen with "Friend" at the top. Press to bring up the list. The list is as follows:
Nashi
No ally
Burenda
Brenda (Woman with blonde Hair)
Kuraaku
Clark (Man with blonde hair)
Emiru
Emil in the fan translation. (Man with blonde hair and hat)
Ruguen?
Translated to Luvin, I've heard (Man with sunglasses)
Sakata
As it sounds, Sakata (Older man in goggles). As a little tidbit, the name Sakata also belongs to a major character in Front Mission 1.
Option 1 - Artillery. A crosshair appears on screen which locks on to enemies. Brenda fires a few shots from the transport at the enemy.
Option 2 - Exit Menu
Comments
Not bad, since you don't have to worry about damaging your ally. And at least she actually shoots at people consistently. Only downsides are limited ammo, and she can't always use the ability. Still, one of the better allies.
Not all that great. He doesn't shoot too often, and doesn't do that much damage. He does pilot pretty much the same Panzer you do though, so that looks kinda cool.
One of the best allies! The mines he throws will remain on the ground until an enemy steps over them. He also throws them very often, and they pack a pretty good punch. The only problem is, with all the explosions around, he tends to hurt himself easilly.
Option 1 - Run away. Causes ally to flee. Option 2 - Toggles shield on and off. When it is on, all enemy fire is nullified that splashes against it. The number displayed is how much energy remaining.
Option 2 - Exit Menu.
Comments
Eh, not a very good ally. He runs out of energy on the longer levels, but has a good amount of HP. Still, he usually doesn't do anything. Use him in the 1 level he's required, and thats it.
Runs around, shoots often, and occasionally shields himself.
Command Menu
Option 1 - Run away. Causes ally to flee.
Option 2 - Exit Menu.
Comments
A pretty good ally. He shoots a lot, but his shots aren't all that strong. He also has a small profile, which protects from enemy fire. But he jumps around like a crazy jackrabbit, sometimes straight into enemy fire. At least he does something.
Hovers above your Panzer and fires. When over enemies, she drops a bomb.
Command Menu
Option 1 - Run away. Causes ally to flee.
Option 2 - Exit Menu.
Comments
She has a very small profile, and hovers far above you, if possible - which lets her avoid a lot of damage. The only problem is, her damage is piss poor. Still, shes not bad if you want a no-troubles ally.
or 
until you get to the screen with "Friend" at the top. Press 
to bring up the list. The list is as follows:
