Endo/Exo-Atmospheric Shuttle
A Shuttle is a small, short range spacecraft carried by larger vessels. They are used when landing the carrier spacecraft is impractical. The life-support and interiors are designed to handle four passengers and they have the ability to break atmo from a wide orbit.
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An Endo/Exo-Atmospheric Shuttle is one designed to function well both in an atmosphere and in space. Serenity carries 2 such shuttles, one of which was indefinitely rented out to Inara Serra.
A passenger shuttle was a small utility starship that was used to ferry passengers or cargo from ship to planet. They were carried aboard larger vessels.
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Passenger Shuttle
Shuttle