Yes it was filmed in baltimore. The building that served as their office / HQ was on Thames Street right on the harbor in Fells Point. It is gone now replaced by a luxury hotel owned by Mr Under-Armor.
Well, I always thought it was, but it was long enough ago that I couldn’t remember even if I had confirmed it was at the time. I remember watching it, but most likely not on a regular must watch basis. I do remember enjoying watching it. But being younger I had a lot more events competing for my attention. Some enjoyable and some not. 🙂