What features does the R language have to find missing values in dataframe or at least, how to know that the dataframe has missing values?
It's hard to tell based on the example you've given, more details on the structure of "data" would be helpful, but, if you simply want to exclude any observation (row) of your data that has a missing value anywhere in it, try:
cleanDat <- na.omit(data)
Note, there is a nice tutorial on missing data which is where I looked to confirm I had this right.