Star Trek Expanded Universe
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The USS Intrepid (NCC-38907) was an Excelsior-class Starfleet starship in service during the mid-24th century. Captain Drew Deighan was the Intrepid's commanding officer during the 2340s. (TNG: "Sins of the Father")

In 2346, the Intrepid responded to a distress signal from the Klingon outpost on Khitomer, after it was attacked by Romulan forces. (TNG: "Sins of the Father", "Redemption") Intrepid warp field specialist CPO Sergey Rozhenko adopted Worf, an orphan of the attack. (TNG: "Family")

The ship was decommissioned or destroyed sometime prior to the Intrepid-class being launched, as the USS Intrepid (NCC-74600) was a ship in service by about 2370.

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