On October 29, 2014 the lead submarine of the Project 955 Borey class, Yuri Dolgorukiy, successfully launched a Bulava missile. The submarine was deployed in the Barents Sea; the warheads were reported to reach their targets at the Kura test site in Kamchatka. According to the Russian ministry of defense, the submarine has the full complement of 16 missiles on board at the time of the test.
The submarine, which was formally accepted for service in December 2012, joined the Northern Fleet in December 2013. However, this is the first time it has the full complement of missiles on board - the Bulava program was set back by the failure during a test launch in September 2013. The launches were resumed in September 2014 - a missile was launched from Vladimir Monomakh.
UPDATE: The video of the launch (taken from inside of the submarine) indicates that the launch took place at 20:27 MSK (17:27 UTC).