I quite liked it, though I think it suffered in its original airing from the fact that the network refused to start with the pilot, which gives the context to make you care about the characters. (Also the Friday night scheduling didn't help).

On TV they didn't air the pilot until last, and while I never would have said it was horrible, I didn't fall in love with it till then -- when they'd already announced the show was cancelled. On the DVDs you see the pilot first, and it really makes a big difference.