USS Centaur (NCC-42042) was the prototype of the Centaur-class cruisers and saw service with the Federation Starfleet during the 24th century. (Ship Recognition Manual, Volume 1: The Ships of Starfleet; TNG novel: Articles of the Federation)

The vessel was served during the Dominion War and was under the command of Captain Charlie Reynolds. (DS9: "Call to Arms")

The Centaur was part of the fleet to take part in Operation Return. (DS9: "Sacrifice of Angels")

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