If it chirped at you it means the chick pipped internally and should progress to pipping externally and then hatching soon. I can't tell you when, but it sounds like you may have an early hatcher there, so keep the humidity high and the incubator closed now and keep an eye on that egg. Generally chicken eggs need to be incubated for 21 days before they are ready to hatch, but I've had eggs hatch from day 18 all the way through to day 25, under broody hens and in incubators. The average is 21 days though. Good luck with your hatch!