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The USS Madeira was a Starfleet runabout in the 24th century. In September 2376 Miles O'Brien, his family, and the Sisko family, travelled to Bajor on the Madeira. (DS9 novel: Unity)

The runabout's class wasn't specified, but given the series, the period and the name (after the Madeira River in South America), it was likely a Danube-class vessel.