Grimspace

Action-packed, complexly-plotted, character-driven. Grimspace is a heckuva first book (heckuva 3rd, book, too). Not perfect, but so good that you put up with the short-comings.

This is more Ronald D. Moore/Joss Whedon-y S.F. than a Roddenberry/Lucas SF. The characters are people: flawed, self-deceived, selfish, scared... You grow to care about them, not just what happens (which would be interesting enough on its own, actually).

Actually, now that I've said it above, I'm more and more convinced this is Firefly without the livestock or distinctive dialogue. Can't wait til I get my hands on the sequel.