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Description
The following is head-cannon:
Named after a heroic figure in LDS Sripture, the Teancum's primary mission was the defense of the peoples of the Federation and their worlds. And like her namesake, she put herself in harms way multiple times in the line of duty.
While outfitted for combat, she still maintained a small scientific suite to continue the mission of exploration and scientific advancement that had defined so much of Starfleet's history. This suite, along with the her medical facilities, were instrumental in the saving of thousands of lives when a power plant on a colony melted down; those immediately affected were treated by the ships medical staff in both sickbay and one of her cargo bays, which had been hastily converted into an extension of their medical suite. The ships science department, aided by non-Starfleet personnel, managed find the cause and the means to prevent further environmental and personnel casualties until Starfleet could send assistance.
Her shorter nacelles decreased her overall length, which gave her only slightly better sub-light maneuverability than other Centaur-class variants; this adaptation was deemed not advantageous enough to implement class-wide. This maneuverability was instrumental in the defeat of pirates, formed from the scattered remnants of the House of Duras, that were raiding Federation colonies.
Like her namesake, the Teancum successfully infiltrated Dominion territory to strike a blow against the enemy leadership; unlike her namesake, she survived both operations, though her survival on the second mission was thanks to the timely intervention of a squadron of Klingon bird-of-prey on patrol. The Teancum survived the war, participating in the final conflict, and returned to its previous theater of operation along the Klingon border to hunt down pirates and raiders.

Image from Star Trek Online.

Description
The following is head-cannon:
Named after a heroic figure in LDS Sripture, the Teancum's primary mission was the defense of the peoples of the Federation and their worlds. And like her namesake, she put herself in harms way multiple times in the line of duty.
While outfitted for combat, she still maintained a small scientific suite to continue the mission of exploration and scientific advancement that had defined so much of Starfleet's history. This suite, along with the her medical facilities, were instrumental in the saving of thousands of lives when a power plant on a colony melted down; those immediately affected were treated by the ships medical staff in both sickbay and one of her cargo bays, which had been hastily converted into an extension of their medical suite. The ships science department, aided by non-Starfleet personnel, managed find the cause and the means to prevent further environmental and personnel casualties until Starfleet could send assistance.
Her shorter nacelles decreased her overall length, which gave her only slightly better sub-light maneuverability than other Centaur-class variants; this adaptation was deemed not advantageous enough to implement class-wide. This maneuverability was instrumental in the defeat of pirates, formed from the scattered remnants of the House of Duras, that were raiding Federation colonies.
Like her namesake, the Teancum successfully infiltrated Dominion territory to strike a blow against the enemy leadership; unlike her namesake, she survived both operations, though her survival on the second mission was thanks to the timely intervention of a squadron of Klingon bird-of-prey on patrol. The Teancum survived the war, participating in the final conflict, and returned to its previous theater of operation along the Klingon border to hunt down pirates and raiders.

Image from Star Trek Online.