Captain's yacht

The captain's yacht was a large auxiliary starship built into the design of several Federation starship designs including the and. It was docked to the underside of the saucer section.

On the USS Enterprise (NCC-1701-E), the name of the captain's yacht is the Cousteau. In 2375, the crew of the USS Enterprise-E used the Cousteau to travel to the surface of the Ba'ku homeworld. 

Background information
Designer Andrew Probert came up with the concept of the captain's yacht while designing the USS Enterprise (NCC-1701-D). Although it was never seen in use, it is labeled on the master systems display screen in main engineering, docked at the bottom of the saucer section almost directly opposite the main bridge. Probert suggested possible ways for the yacht to be used during the first season, including not showing the yacht but mentioning it in dialogue, but his ideas were rejected. The Star Trek: The Next Generation Technical Manual (p. 164) claims that the producers almost used the yacht in, but decided to use an "executive shuttlecraft" due to budgetary constraints. According to Patrick Stewart, the yacht would have been called the Calypso.

Rick Sternbach designed similar craft into the USS Voyager and the USS Equinox, known as the aeroshuttle and the waverider, respectively. Like on the Enterprise-D, however, these vessels were only depicted on technical schematics and never seen in operation or referred to in dialog.

Ronald B. Moore notes in the Star Trek: The Next Generation Technical Manual that naval tradition would insist on calling such a craft the Captain's gig rather than the Captain's yacht.

Apocrypha
In the UK Comic strip series, the dome at the bottom of the saucer section of the  USS Enterprise (NCC-1701) is also seen detaching as a similar auxiliary vehicle.

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Yacht des Captains Yacht du capitaine 艦長専用艇