On July 13, 2009 a Project 667BDRM submarine of the Northern Fleet carried out a successful launch of a R-29RM missile. Most reports describe the missile as Sineva - the new modification of the R-29RM missile.
It appears that the launch was conducted by the K-117 Bryansk submarine. Bryansk launched another missile on July 14, 2009 .
UPDATE 07/19/09: The submarine that conducted the launch was reported to be K-84 Ekaterinburg. The launch took place at 05:20 MSK (01:20 UTC) from the Franz Joseph Land region. The missile was flown along a depressed trajectory to the Kura test site in Kamchatka.
UPDATE 08/20/09: The Makeyev Design Bureau reportedly said that the missile was an old R-29RM, not the Sineva modification.
UPDATE 11/19/09: The missile used in the test was reportedly produced in 1990.