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It CAN be used it's just not really smart, as ships might end up colliding with planets or the like. Traveling at warp speeds would move a ship so fast that it would be extremely hard to time the moment to drop out of warp.

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It can. The Klingon Bird of Prey "H.M.S. Bounty" even engages its warp drive while in the Earth's atmosphere over the Bering Sea or the Gulf of Alaska during Star Trek IV: The Voyage Home. ProfessorTrek 03:03, July 1, 2011 (UTC)

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