In the 1990s, Russia had two submarine-launched ICBMs, the solid-fuel R-39 and the liquid-fuel R-29 Vysota family, both developed by the Makeyev Design Bureau. A new missile, designated R-39UTTH Bark was under development to replace the R-39. The Bark was planned to become the only submarine-launched ballistic missile of the Russian nuclear arsenal. However, its development was plagued with problems, and after three test failures the Bark programme was canceled in 1998. Moscow Institute of Thermal Technology was now tasked with developing a new advanced missile. The institute promised that it would able to quickly develop a new naval missile based on its recent Topol-M land-based ICBM.