These missile boats were designed at the Almaz C Design Bureau under the leadership of A. P. Gorodyanko on the basis of a Turya-class torpedo boat. They were designed to battle with small enemy surface ships in the coastal zone. There is only a single foil, the aft part of the hull hydroplanes at high speeds. The P-15M launchers are the same type as carried on the Osa-II missile boats.

The hull is smooth-decked, steel, with a low-subsection wing, divided by waterproof bulkheads into 10 compartments. Diesel engines are located in two compartments (the fifth and seventh), between which there is a remote control station for the main mechanisms. Superstructures are made of light alloys. The use of weapons is possible at speeds of up to 35 knots. The artillery armament of the missile boat was significantly increased: instead of two 30-mm cannons, the missile boat had a 76-mm bow gun, and a 30-mm quick-fire six-barreled stern gun.

All 12 units were built in Leningrad. After the breakup of the USSR, Russia discarded many and five went to Ukraine, one of which was later transferred to Georgia after a complete refurbishment.

Missile boat R-251 was built at the Sredne-Nevskiy Shipyard, Pontonny (yard No.249), commissioned 15 June 1981.

Was listed as missile boat of the 296th missile boat division of the 41st brigade of missile boats, based on the Chernomorskoe, Crimea.

Following the 1997 Black Sea Fleet partition treaty, 12 August 1997 missile boat R-251 was passed to the Ukrainian Navy. Renamed to the Tsuryupinsk (hull number - U151).

In 2002, the missile boat was excluded from the lists of the Ukrainian Navy and scrapped.