Overall, I thought it was well cast, very well acted, and poorly written. That gives me some hope; a clunky pilot episode can lead to a good show, if the actors are on point.
The good: Nathan Fillion is charming, as always. I also very much liked the dynamics between the female characters. The two established officers, Bishop and Lopez, had a friendly rivalry-- fierce competitors, but not cutting each other down. And Bishop's advice to Lucy seemed like it came from a good place, looking out for a young woman who might be harming her career.
The bad: Way to much speechifying -- mostly Nolan, but also the Sergeant, go on and on with trite musings that are supposed to sound deep. Bradford, the T.O., could have been interesting. He presents himself as a sadistic, racist jerk, but that may just be a training technique, and his facility at dissecting Bishop and Lopez's feelings about promotion was interesting. Yet we've already randomly met his junkie wife and seen him get shot, so it's like the writers couldn't wait to reveal that he's not just an asshole. A little patience would have made for a better payoff.
In the big picture, I'm worried about staying power. As Lucy said, in a year or two Nolan will just be one of the guys. Sure, he'll be a decade or two behind in terms of promotions, but once he's no longer a rookie a lot of the premise of the show goes away.