The event, which was set to take place sometime this month as we reported recently, marked the first time the Tsirkon missile is launched from a submarine. According to the video released by the Russian MoD, the submarine launched the missile from a surfaced position.
The test took place in ​​the Barents Sea. According to the MoD the flight of the hypersonic missile corresponded to the specified parameters, it hit the conditional target.

The submarine-based Tsirkon missile test launch has been considered a success.
Russian MoD
About Tsirkon Hypersonic Anti-ship Missile

Open sources said the hypersonic 3M-22 missile was designed by NPO-machinostroeniya in Reutov in Moscow region. It is a part of 3K-22 (Tsirkon code) complex which NATO reports as SS-N-33.The missile can develop a speed of Mach 9 and fly at an altitude of 30-40 km where the range and speed increase as air resistance is smaller. Experts estimate the payload at 300-400 kg and the missile length at 8-10 meters. Tsirkon is to be fired from universal vertical launchers 3S-14 on warships and submarines and from Bastion mobile coastal missile launchers.
The first-in-class frigate Admiral Gorshkov test fired the Tsirkon (sometimes spelled Zirkon) hypersonic missile four times last year: In December, in early October and in November 2020. The first Tsirkon test launch from a warship was scheduled in late 2019, but took place in January 2020.