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Warp drive was a form of faster-than-light travel. Human ships used warp drive by the 26th century and even into the 51st century. The Tenth Doctor implied that the TARDIS made use of one. (TV: Fear Her)
Before human life — and all life on Earth for that matter — even began, the Jagaroth created spaceships that used warp drive. The drive could be set at warp 1, warp 2, or warp 3. However, warp 3 would have been suicide if the ship did not have a fully working warp drive. (TV: City of Death)
Human ships of the 26th century were powered by anti-matter, which may have been required for warp drive. Should the navigational computers be tampered with while a ship was in warp drive, it could disintegrate. Warp drive-powered starships were in use up to and possibly beyond the 51st century. (TV: Earthshock, The Girl in the Fireplace)