All 5 Uses of

comprehend
in
Utopia, by Thomas More

I do not comprehend what you mean by your 'casting about,' or by 'the bending and handling things so dexterously that, if they go not well, they may go as little ill as may be;†

comprehend = understand -- especially to understand it completely

They are so far from minding chimeras and fantastical images made in the mind that none of them could comprehend what we meant when we talked to them of a man in the abstract as common to all men in particular (so that though we spoke of him as a thing that we could point at with our fingers, yet none of them could perceive him) and yet distinct from every one, as if he were some monstrous Colossus or giant;†

Nor can they comprehend the pleasure of seeing dogs run after a hare, more than of seeing one dog run after another; for if the seeing them run is that which gives the pleasure, you have the same entertainment to the eye on both these occasions, since that is the same in both cases.†
*

and, therefore, the plainest and most obvious sense of the words is that which ought to be put upon them, since a more refined exposition cannot be easily comprehended, and would only serve to make the laws become useless to the greater part of mankind, and especially to those who need most the direction of them;†

comprehended = understood completely

Yet the greater and wiser sort of them worship none of these, but adore one eternal, invisible, infinite, and incomprehensible Deity; as a Being that is far above all our apprehensions, that is spread over the whole universe, not by His bulk, but by His power and virtue; Him they call the Father of All, and acknowledge that the beginnings, the increase, the progress, the vicissitudes, and the end of all things come only from Him; nor do they offer divine honours to any but to Him alone.†

incomprehensible = not understandable

standard prefix: The prefix "in-" in incomprehensible means not and reverses the meaning of comprehensible. This is the same pattern you see in words like invisible, incomplete, and insecure.

Definitions:

(1) (comprehend)
to understand something -- especially to understand it completely
(2) (meaning too rare to warrant focus)
meaning too rare to warrant focus:

Much more rarely (and more frequently in the past), comprehend can mean to include as part of something broader. That was the first sense of the word listed in Webster's Dictionary of 1828 with this sample sentence: "The empire of Great Britain comprehends England, Scotland and Ireland, with their dependencies."