On October 28, 2011 at 7:40 MSK (03:40 UTC) Yuri Dolgorukiy, the lead submarine of the Project 955 class, successfully launched a Bulava missile. The launch was performed from a submerged submarine deployed in the White Sea to ward the Kura test site in Kamchatka.
In addition to the missile that was launched, the submarine reportedly carried a mock up of a missile in order to prepare for a salvo launch that might take place later this year. It was expected that the 2011 test program will consist of five launches. Today's launch became the third one in 2011 and fifth successful launch in a row. Previous launch took place on August 27, 2011.
UPDATE: The launch was observed in Norway at somewhat earlier time - about 3:45 UTC. The Navy representative, however, stated that the time of the launch was 8:01 MSK (4:01 UTC).
UPDATE: It appears that the launch indeed took place earlier than it was stated in the official report - at 7:40 MSK.