Don't be confused by that book. That's not how relativity works. From the "stationary" observer, looking at NX-02, it would appear time on the Columbia had slowed down. From the NX-02 the outside universe looks like it sped up. However, from the perspective of the NX-02 crew, it would still have taken (if I recall) 12 years for the ship to reach its destination. Relativistic speeds don't mess up your own frame of reference.
In summation:
Part I:
*From the point of the Columbia crew, it will always take 12 years to reach Erigol at .95c, or whatever speed they were at.
*Erigol would observe that the same trip took 100 years.
Part II:
*Standing on Erigol, a day is 24 hours long.
*If Columbia was watching Erigol, they'd clock a day as taking 3 hours.
What the book was describing was indeed superluminal travel. It's the only way to make you go 12 light years in 6 months. Of course, relativistic superluminal travel results in weird situations, like people interacting with you before you arrived.
Part I is incorrect.
Subjective time aboard Columbia would be only a few months, much shorter than 12 years. (Otherwise they would have died due to lack of provisions) Now, when they reached Erigol, they would have found out that 12 years had passed for the rest of the universe, not 100 years.
From the Master:
[yt]http://www.youtube.com/watch?v=c_bKY-CGW9k&NR=1[/yt]
http://www.youtube.com/v/anxiXMPXZoY&NR=1&hl=en&fs=1&