The Bulava missile flight test program is not the most transparent program in the Russian military. But some interesting details crop up once in a while. A video posted a few days ago (which is apparently part of a propaganda movie made by MITT) suggest that the missile was flown from a land-based test launcher at least once.
The launch in question is at 18 seconds into the clip. The date and place of that test are unknown.
UPDATE 02/05/09: As my readers tell me, it was a pop-up test.
UPDATE 02/05/09: More help from readers - the place shown in video is the test site of the Design Bureau of Special Machine-Building (KBSM), which is developing the launcher for Bulava. The test site is located near Elizavetinka, not far from St.-Petersburg.