Her keel was laid down on 1 July 1954 by the Mare Island Naval Shipyard of Vallejo, California. She was launched on 2 July 1957 sponsored by Mrs. John A. Moore, widow of the last skipper of the USS Grayback (SS-208) and commissioned at Mare Island on 7 March 1958 with Lieutenant Commander Hugh G. Nott in command. Grayback was initially designated as an attack submarine, but was converted to a Regulus nuclear cruise missile submarine (SSG-574) in 1958.
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