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That depends which "Madrid" you are talking about. There are at least 20 cities in the world named Madrid:
SeaScope - 1998 Northern Exposure 1-38 was released on:
USA: 1998
Scouting for Adventure - 2008 Northern Tier Part 1 2-1 was released on:
USA: 2009
Northern Exposure - 1990 Pilot 1-1 was released on:
USA: 12 July 1990
Estonia: 17 November 1997
Northern Exposure - 1990 Pilot 1-1 is rated/received certificates of:
Australia:PG (video rating)
Canada:PG (video rating)