Sorry, I had the right up going into one of the sci fi sites, thought I put the write up on here as well.
No, the USS Dauntless was in the episode Hope & Fear, Season 4, episode 24.
Basically Voyager comes upon the ship sitting in space. The ship has a message that Starfleet had designed a ship with a new propulsion system to help get them home faster....SlipStream Drive.
In the end, it was all an alien's plot to capture and kill the crew, as apparently some tussle with the Borg by the Voyager crew, brought the Borg to this alien's system and he was the last of their race.
But of course in the end, the Voyager crew foiled the alien's plan, and got back to Voyager safely, while the Dauntless sailed into Borg Territory.
The ship represents the aftermath of the battle, since it was pretty much on autopilot going into Borg space, with a new Slip Stream Drive so I figure the Borg got a couple of lucky shots in, until the Dauntless computer took over and got the ship out of Dodge!!!!