MOSCOW — A Russian nuclear-powered submarine successfully test-fired four intercontinental ballistic missiles on Tuesday, the Navy said.

The Navy said the submarine, named Yuri Dolgoruky after the medieval prince who founded Moscow, launched the Bulava missiles in a single salvo from a submerged position in the White Sea.

The service said the mock warheads the missiles carried reached their practice targets on the opposite side of Russia — the Kura shooting range on the far eastern Kamchatka Peninsula.

The exercise marked the first simultaneous launch of four Bulava missiles, which can carry multiple nuclear warheads and has a range of up to 9,300 kilometers (about 5,770 miles).

The Bulava was commissioned by the Russian Navy after a long cycle of development. Russian officials said the missile has a quicker start than its predecessors, helping it dodge missile defenses.

The Yuri Dolgoruky is one of the three new Borei-class submarines with the Russian Navy. Another five such submarines are under construction to gradually replace some of the older Soviet-built ones.