Like I said before, once Crichton puts on the Peacekeeper uniform for the first time, the series takes off like a bat out of Hell. Up until then it's both the show and the audience trying to get a feel of each other.
Oddly enough, the only people I've ever personally met that didn't like the show didn't like it for the show itself, but simply because they use puppets for some of the aliens. (Of course, they're the same people who bitch and moan about Star Trek always having foreheaded "aliens," so I really don't know what the Hell they want!)
But considering both Rygel and Pilot are fascinating characters all on their own, those people can just frell off for all I care.
It's also the first space fantasy in a long time where you care about the ship as much as the crew. I honestly hadn't felt that way since the original Star Trek. I <3 Moya.