Yes, he was a terrible father. And probably intentionally framed as such, since the film also explores the "pioneer myth" and some of its implications, like leaving a family behind.

Before that he was still a pretty lousy father, consistently showing favoritism for Murph and dismissing Tom for not sharing his same interests. Which over the movie ends up being a source of conflict.

Plus, although the plan did work in the end, it still doesn't account for Coop leaving them behind without any kind of reassurance. Murph got a job at the NASA because she was trying to get her dad home and once again, Tom was dismissed.