3- stage ballistic missile with a history per Wiki.

The missile’s flight test programme was problematic. Until 2009, there were 6 failures in 13 flight tests and one failure during ground test, blamed mostly on substandard components. This led to the missile’s chief designer, Yury Solomonov resigning from his post in July 2009.[citation needed] Aleksandr Sukhodolskiy was appointed as the new general designer of sea-based ballistic missiles at the Moscow Institute of Thermal Technology; Solomonov however retained his post of general designer of land-based missiles.[24]

en.wikipedia.org