Deliberate mistake: After the Crazy Ivan, where they escape from the Reaver ship, the shot of Mal, Wash and Zoe celebrating on the bridge. Wash has his hands out in front of him like he's still holding the stick, but there's nothing in his hands. In the commentary, Joss Whedon mentions that, in order to get the shot right, they had to move the seat back far enough that Alan Tudyk couldn't reach the controls, so they instructed him to mime it.
Out of Gas - S1-E5
Continuity mistake: In the flashback where Mal and Zoë meet Jayne for the first time, every close-up of Mal and the one close-up of Zoë shows their hair blowing in the wind. But in the shots of them together, their hair is completely still.
Trivia: Nathan Fillion, Gina Torres, Adam Baldwin, and Alan Tudyk all later played villains on Joss Whedon's other Mutant Enemy productions: Fillion appeared as Caleb in the final five episodes of "Buffy the Vampire Slayer," while Torres played Jasmine in season four of "Angel" and Baldwin played Marcus Hamilton in season five. Tudyk played Alpha in "Dollhouse".
Question: How do you pronounce Jewel Staite's (Kaylee) last name?
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Answer: State.
Grumpy Scot