agm-84_harpoon rgm-84-harpoon
First introduced in 1977, the Harpoon missile uses active radar homing, and a low-level, sea-skimming cruise trajectory to improve survivability and lethality. It is available in the following versions as listed:

AGM-84: for use on aircraft
RGM-84: for use on naval vessels and coastal batteries; this version has an solid rocket booster that detaches when it is empty
UGM-84: Same as the RGM model but the SRB is encased in a container to allow for use via a submarine's torpedo tubes. This version was retired in 1997.
harpoon missile