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Multiple realities
(covers information from several alternate timelines)
Starfleet underwear, alt 2259

Carol Marcus in her underwear

Underwear was clothing worn next to the skin and underneath other clothing. Female underwear was sometimes known as lingerie.

In 1986, when Spock swam in the whale tank at the Sausalito Cetacean Institute to mind meld with George and Gracie, he swam in his underwear. (Star Trek IV: The Voyage Home)

Like other garments, underwear could be made to withstand a variety of conditions, including fire. In 2152, Trip Tucker rebuffed T'Pol's suggestions that he push the engines of Enterprise NX-01 to their limits by saying that his underwear was flame-retardant, but he wasn't going to light himself on fire to prove it. (ENT: "Cease Fire")

In 2259 of the alternate reality, James T. Kirk took a peek at Carol Marcus and saw her in her underwear when she was changing. (Star Trek Into Darkness)

Li Nalas was remembered as having killed Gul Zarale, an infamous Cardassian military leader on Bajor, in single combat, but he had actually shot Zarale while he was unarmed and in his underwear. (DS9: "The Homecoming")

In 2371, B'Elanna Torres accidentally walked in on a crewman who was wearing only his underwear when the ship was experiencing spacial distortions caused by an energy field. (VOY: "Twisted")

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