The warp nacelles had the ability to be raised into position for warp speeds, then lowered into a more streamlined position when at slower-than-light speeds. The Intrepid-class starships were equipped with this feature, examples of which include the USS Voyager and the USS Bellerophon. (VOY: "Caretaker", DS9: "Inter Arma Enim Silent Leges" et al) The pylons were raised anytime the ship's warp field was at power levels above idle, even if not used for propulsive effect. (VOY: "Learning Curve")
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