Firefly (2002) - Pilot: Serenity (2)

The naked woman is Simon's sister River, a government test subject he helped to escape. After ducking a dreaded reaver ship, Mal tries and cuts a deal with Patience, an old "friend" but suspects a trap. Patience tries an ambush but the team escapes just as the Reavers return and the Federal agent breaks loose. Mal shoots the agent dead and Wash manages to duck the Reavers. at the end Mal decides to take on all three of his remaining passengers full-time.

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