diff --git a/docs/src/mnem_maps/cfe_time_cmd_mnem_map b/docs/src/mnem_maps/cfe_time_cmd_mnem_map
index fc8f2cfbc..641f5008b 100644
--- a/docs/src/mnem_maps/cfe_time_cmd_mnem_map
+++ b/docs/src/mnem_maps/cfe_time_cmd_mnem_map
@@ -31,4 +31,5 @@ TIME_ADD1HZSTCF=$sc_$cpu_TIME_Add1HzSTCF \
 TIME_SUB1HZSTCF=$sc_$cpu_TIME_Sub1HzSTCF \
 TIME_STOPADD1HZ=$sc_$cpu_TIME_StopAdd1Hz \
 TIME_STOPSUB1HZ=$sc_$cpu_TIME_StopSub1Hz \
-TIME_SETSIGNAL=$sc_$cpu_TIME_SetSignal
+TIME_SETSIGNAL=$sc_$cpu_TIME_SetSignal \
+TIME_SETPRINT=$sc_$cpu_TIME_SetPrint
diff --git a/modules/core_api/fsw/inc/cfe_error.h b/modules/core_api/fsw/inc/cfe_error.h
index bd7138478..6e8a5e3b0 100644
--- a/modules/core_api/fsw/inc/cfe_error.h
+++ b/modules/core_api/fsw/inc/cfe_error.h
@@ -1362,6 +1362,15 @@ char *CFE_ES_StatusToString(CFE_Status_t status, CFE_StatusString_t *status_stri
  *
  */
 #define CFE_TIME_BAD_ARGUMENT ((CFE_Status_t)0xce000005)
+
+/**
+ * @brief Time Format Production Too Long
+ *
+ * The formatting of a time into a string would overflow the
+ * output buffer length of CFE_TIME_PRINTED_STRING_SIZE.
+ *
+ */
+#define CFE_TIME_FORMAT_TOO_LONG ((CFE_Status_t)0xce000006)
 /**@}*/
 
 #endif /* CFE_ERROR_H */
diff --git a/modules/core_api/fsw/inc/cfe_time_api_typedefs.h b/modules/core_api/fsw/inc/cfe_time_api_typedefs.h
index 548a84db1..0055dfd23 100644
--- a/modules/core_api/fsw/inc/cfe_time_api_typedefs.h
+++ b/modules/core_api/fsw/inc/cfe_time_api_typedefs.h
@@ -42,7 +42,10 @@
 */
 
 #define CFE_TIME_PRINTED_STRING_SIZE \
-    24 /**< \brief Required size of buffer to be passed into #CFE_TIME_Print (includes null terminator) */
+    32 /**< \brief Required size of buffer to be passed into #CFE_TIME_Print (includes null terminator) */
+
+#define CFE_TIME_FORMAT_SIZE \
+    32 /**< \brief The maximum length we will accept for the format string (incl. null)--affects cmd and tlm */
 
 /*****************************************************************************/
 /*
diff --git a/modules/time/config/default_cfe_time_extern_typedefs.h b/modules/time/config/default_cfe_time_extern_typedefs.h
index 455c1f8af..88ccbb439 100644
--- a/modules/time/config/default_cfe_time_extern_typedefs.h
+++ b/modules/time/config/default_cfe_time_extern_typedefs.h
@@ -279,4 +279,29 @@ enum CFE_TIME_SetState
  */
 typedef uint8 CFE_TIME_SetState_Enum_t;
 
+enum CFE_TIME_PrintTimestamp
+{
+    /**
+     * @brief Print timestamp using format string.
+     */
+    CFE_TIME_PrintTimestamp_DateTime       = 0,
+
+    /**
+     * @brief Print secs+micros since start/reset.
+     */
+    CFE_TIME_PrintTimestamp_SecsSinceStart = 1,
+
+    /**
+     * @brief Do not print timestamps at all.
+     */
+    CFE_TIME_PrintTimestamp_None           = 2
+};
+
+/**
+ * @brief Time print status values (how to print timestamps)
+ *
+ * @sa enum CFE_TIME_PrintTimestamp
+ */
+typedef uint8 CFE_TIME_PrintTimestamp_Enum_t;
+
 #endif /* CFE_TIME_EXTERN_TYPEDEFS_H */
diff --git a/modules/time/config/default_cfe_time_fcncodes.h b/modules/time/config/default_cfe_time_fcncodes.h
index 6fe06e1f8..e7f5463ca 100644
--- a/modules/time/config/default_cfe_time_fcncodes.h
+++ b/modules/time/config/default_cfe_time_fcncodes.h
@@ -689,6 +689,28 @@
 **  \sa #CFE_TIME_SET_STATE_CC, #CFE_TIME_SET_SOURCE_CC
 */
 #define CFE_TIME_SET_SIGNAL_CC 15 /* set clock signal (pri vs red) */
+
+/** \cfetimecmd Set Print Format Options
+**
+**  \par Description
+**       This command sets the time print mode/format (used by EVS when sending
+**       to stdout, and by ES for syslog messages).
+**
+**  \cfecmdmnemonic \TIME_SETPRINT
+**
+**  \par Command Structure
+**       #CFE_TIME_SetPrintCmd_t
+**
+**  \par Command Verification
+**       Successful execution of this command may be verified by examining
+**       housekeeping output from the TIME module.
+**
+**  \par Criticality
+**       This command is non-critical, usually used in ground systems and
+**       doing ground tests.
+*/
+#define CFE_TIME_SET_PRINT_CC 16 /* set print format command */
+
 /** \} */
 
 #endif
diff --git a/modules/time/config/default_cfe_time_interface_cfg.h b/modules/time/config/default_cfe_time_interface_cfg.h
index 151d38c09..7721430d5 100644
--- a/modules/time/config/default_cfe_time_interface_cfg.h
+++ b/modules/time/config/default_cfe_time_interface_cfg.h
@@ -198,4 +198,17 @@
 */
 #define CFE_MISSION_TIME_FS_FACTOR 789004800
 
+/**
+ ** \brief On boot, define the time print type.
+ */
+#define CFE_TIME_PRINT_DEFAULT CFE_TIME_PrintTimestamp_DateTime
+
+/**
+ ** \brief On boot, the CFE_TIME_Print() function will use
+ ** the following strftime-like (+ microseconds) format
+ ** when "printing" times. (Only relevant if CFE_TIME_PRINT_DEFAULT
+ ** is set to CFE_TIME_PrintTimestamp_DateTime.)
+ */
+#define CFE_TIME_PRINTFMT_DEFAULT "%Y-%j %H:%M:%S.%f"
+
 #endif
diff --git a/modules/time/config/default_cfe_time_msgstruct.h b/modules/time/config/default_cfe_time_msgstruct.h
index a471f315e..c45aa368d 100644
--- a/modules/time/config/default_cfe_time_msgstruct.h
+++ b/modules/time/config/default_cfe_time_msgstruct.h
@@ -97,6 +97,24 @@ typedef struct CFE_TIME_SetStateCmd
     CFE_TIME_StateCmd_Payload_t Payload;       /**< \brief Command payload */
 } CFE_TIME_SetStateCmd_t;
 
+/**
+ * \brief Payload for the command to set the time print format
+ */
+typedef struct CFE_TIME_SetPrintCmd_Payload
+{
+    CFE_TIME_PrintTimestamp_Enum_t PrintTimestamp;
+    char PrintFormat[CFE_TIME_FORMAT_SIZE];
+} CFE_TIME_SetPrintCmd_Payload_t;
+
+/**
+ * \brief Command to set the time print format
+ */
+typedef struct CFE_TIME_SetPrintCmd
+{
+    CFE_MSG_CommandHeader_t        CommandHeader; /**< \brief Command header */
+    CFE_TIME_SetPrintCmd_Payload_t Payload;
+} CFE_TIME_SetPrintCmd_t;
+
 /**
  * \brief Set time data source command payload
  */
@@ -273,6 +291,9 @@ typedef struct CFE_TIME_HousekeepingTlm_Payload
     uint32 SubsecsDelay; /**< \cfetlmmnemonic \TIME_1HZDLYSSECS
                               \brief Current 1 Hz SCTF Delay (sub-seconds) */
 #endif
+
+    CFE_TIME_PrintTimestamp_Enum_t PrintTimestamp;
+    char PrintFormat[CFE_TIME_FORMAT_SIZE];
 } CFE_TIME_HousekeepingTlm_Payload_t;
 
 typedef struct CFE_TIME_HousekeepingTlm
diff --git a/modules/time/fsw/inc/cfe_time_eventids.h b/modules/time/fsw/inc/cfe_time_eventids.h
index 9ea5eb239..a99f25feb 100644
--- a/modules/time/fsw/inc/cfe_time_eventids.h
+++ b/modules/time/fsw/inc/cfe_time_eventids.h
@@ -448,6 +448,17 @@
  *  message pipe.
  */
 #define CFE_TIME_LEN_ERR_EID 49
+
+/**
+ * \brief TIME Invalid Print Format Event ID
+ *
+ *  \par Type: ERROR
+ *
+ *  \par Cause:
+ *
+ *  Invalid print format string or other print option specified.
+ */
+#define CFE_TIME_PRINTFORMAT_ERR_EID 50
 /**\}*/
 
 #endif /* CFE_TIME_EVENTS_H */
diff --git a/modules/time/fsw/src/cfe_time_api.c b/modules/time/fsw/src/cfe_time_api.c
index f8e8b35b6..972326468 100644
--- a/modules/time/fsw/src/cfe_time_api.c
+++ b/modules/time/fsw/src/cfe_time_api.c
@@ -567,27 +567,77 @@ uint32 CFE_TIME_Micro2SubSecs(uint32 MicroSeconds)
  *-----------------------------------------------------------------*/
 CFE_Status_t CFE_TIME_Print(char *PrintBuffer, CFE_TIME_SysTime_t TimeToPrint)
 {
-    size_t    FmtLen = 0;
-    uint32    Micros = (CFE_TIME_Sub2MicroSecs(TimeToPrint.Subseconds) + CFE_MISSION_TIME_EPOCH_MICROS) / 10;
+    uint32 mic    = (CFE_TIME_Sub2MicroSecs(TimeToPrint.Subseconds) + CFE_MISSION_TIME_EPOCH_MICROS) / 10;
+    time_t sec    = TimeToPrint.Seconds + CFE_MISSION_TIME_EPOCH_SECONDS; // epoch is Jan 1, 1980
+    size_t OutChrs = 0; // tracks how many chars we've put into PrintBuffer
     struct tm tm;
+    size_t TimeSz;
 
     if (PrintBuffer == NULL)
     {
         return CFE_TIME_BAD_ARGUMENT;
     }
 
-    time_t sec = TimeToPrint.Seconds + CFE_MISSION_TIME_EPOCH_SECONDS; // epoch is Jan 1, 1980
-    gmtime_r(&sec, &tm);
-    FmtLen = strftime(PrintBuffer, CFE_TIME_PRINTED_STRING_SIZE - 6, "%Y-%j-%H:%M:%S", &tm);
-    PrintBuffer += FmtLen;
-    *(PrintBuffer++) = '.';
-
-    *(PrintBuffer++) = '0' + (char)((Micros % 100000) / 10000);
-    *(PrintBuffer++) = '0' + (char)((Micros % 10000) / 1000);
-    *(PrintBuffer++) = '0' + (char)((Micros % 1000) / 100);
-    *(PrintBuffer++) = '0' + (char)((Micros % 100) / 10);
-    *(PrintBuffer++) = '0' + (char)(Micros % 10);
-    *PrintBuffer     = '\0';
+    switch (CFE_TIME_Global.PrintTimestamp)
+    {
+        case CFE_TIME_PrintTimestamp_DateTime:
+            gmtime_r(&sec, &tm);
+
+            /*
+            ** `PrintFormatMillis` points at the `%f` in PrintFormat, if there is a `%f`.
+            */
+            if (CFE_TIME_Global.PrintFormatMillis)
+            {
+                /* ...blot out the `%f`, temporarily. */
+                CFE_TIME_Global.PrintFormatMillis[0] = '\0';
+            }
+
+            TimeSz = strftime(PrintBuffer, CFE_TIME_PRINTED_STRING_SIZE, CFE_TIME_Global.PrintFormat, &tm);
+
+            if (TimeSz == 0)
+            {
+                return CFE_TIME_FORMAT_TOO_LONG;
+            }
+
+            OutChrs += TimeSz;
+
+            if (CFE_TIME_Global.PrintFormatMillis)
+            {
+                /* unblot */
+                CFE_TIME_Global.PrintFormatMillis[0] = '%';
+
+                if (OutChrs + 6 > CFE_TIME_PRINTED_STRING_SIZE)
+                {
+                    return CFE_TIME_FORMAT_TOO_LONG;
+                }
+
+                OutChrs += snprintf(PrintBuffer + OutChrs, CFE_TIME_PRINTED_STRING_SIZE - OutChrs, "%05d", mic);
+
+                /* it's likely the `%f` is last in the format string, check if there's any remainder...*/
+                if (CFE_TIME_Global.PrintFormatMillis[2])
+                {
+                    TimeSz = strftime(PrintBuffer + OutChrs, CFE_TIME_PRINTED_STRING_SIZE, CFE_TIME_Global.PrintFormatMillis + 2, &tm);
+
+                    if (TimeSz == 0)
+                    {
+                        return CFE_TIME_FORMAT_TOO_LONG;
+                    }
+
+                    OutChrs += TimeSz;
+                }
+            }
+            PrintBuffer[OutChrs] = '\0';
+            break;
+
+        case CFE_TIME_PrintTimestamp_SecsSinceStart:
+            OutChrs += snprintf(PrintBuffer, CFE_TIME_PRINTED_STRING_SIZE, "%ld.%06d", (long int)sec, mic);
+            PrintBuffer[OutChrs] = '\0';
+            break;
+
+        default:
+            PrintBuffer[0] = '\0';
+            break;
+    }
     return CFE_SUCCESS;
 }
 
diff --git a/modules/time/fsw/src/cfe_time_dispatch.c b/modules/time/fsw/src/cfe_time_dispatch.c
index fcd6e08fd..4c261cc46 100644
--- a/modules/time/fsw/src/cfe_time_dispatch.c
+++ b/modules/time/fsw/src/cfe_time_dispatch.c
@@ -240,6 +240,13 @@ void CFE_TIME_TaskPipe(const CFE_SB_Buffer_t *SBBufPtr)
                     }
                     break;
 
+                case CFE_TIME_SET_PRINT_CC:
+                    if (CFE_TIME_VerifyCmdLength(&SBBufPtr->Msg, sizeof(CFE_TIME_SetPrintCmd_t)))
+                    {
+                        CFE_TIME_SetPrintCmd((const CFE_TIME_SetPrintCmd_t *)SBBufPtr);
+                    }
+                    break;
+
                 default:
 
                     CFE_TIME_Global.CommandErrorCounter++;
diff --git a/modules/time/fsw/src/cfe_time_task.c b/modules/time/fsw/src/cfe_time_task.c
index f392e6627..f51a81648 100644
--- a/modules/time/fsw/src/cfe_time_task.c
+++ b/modules/time/fsw/src/cfe_time_task.c
@@ -1090,3 +1090,14 @@ int32 CFE_TIME_Sub1HZAdjustmentCmd(const CFE_TIME_Sub1HZAdjustmentCmd_t *data)
     CFE_TIME_1HzAdjImpl(&data->Payload, CFE_TIME_AdjustDirection_SUBTRACT);
     return CFE_SUCCESS;
 }
+
+/*----------------------------------------------------------------
+ *
+ * Application-scope internal function
+ * See description in header file for argument/return detail
+ *
+ *-----------------------------------------------------------------*/
+int32 CFE_TIME_SetPrintCmd(const CFE_TIME_SetPrintCmd_t *data)
+{
+    return CFE_TIME_SetPrintFormat(data->Payload.PrintTimestamp, data->Payload.PrintFormat);
+}
diff --git a/modules/time/fsw/src/cfe_time_utils.c b/modules/time/fsw/src/cfe_time_utils.c
index d0cdb3bc5..06d623261 100644
--- a/modules/time/fsw/src/cfe_time_utils.c
+++ b/modules/time/fsw/src/cfe_time_utils.c
@@ -353,6 +353,11 @@ void CFE_TIME_InitData(void)
     */
     CFE_MSG_Init(CFE_MSG_PTR(CFE_TIME_Global.Local1HzCmd.CommandHeader), CFE_SB_ValueToMsgId(CFE_TIME_1HZ_CMD_MID),
                  sizeof(CFE_TIME_Global.Local1HzCmd));
+
+    /*
+    ** Configure the default time print format.
+    */
+    CFE_TIME_SetPrintFormat(CFE_TIME_PRINT_DEFAULT, CFE_TIME_PRINTFMT_DEFAULT);
 }
 
 /*----------------------------------------------------------------
@@ -408,6 +413,9 @@ void CFE_TIME_GetHkData(const CFE_TIME_Reference_t *Reference)
     CFE_TIME_Global.HkPacket.Payload.SecondsDelay = Reference->AtToneDelay.Seconds;
     CFE_TIME_Global.HkPacket.Payload.SubsecsDelay = Reference->AtToneDelay.Subseconds;
 #endif
+
+    strncpy(CFE_TIME_Global.HkPacket.Payload.PrintFormat, CFE_TIME_Global.PrintFormat, CFE_TIME_FORMAT_SIZE);
+    CFE_TIME_Global.HkPacket.Payload.PrintTimestamp = CFE_TIME_Global.PrintTimestamp;
 }
 
 /*----------------------------------------------------------------
@@ -1035,3 +1043,55 @@ int32 CFE_TIME_CleanUpApp(CFE_ES_AppId_t AppId)
 
     return Status;
 }
+
+/*----------------------------------------------------------------
+ *
+ * Application-scope internal function
+ * See description in header file for argument/return detail
+ *
+ *-----------------------------------------------------------------*/
+int32 CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_Enum_t PrintTimestamp, const char *PrintFormat)
+{
+    if (PrintTimestamp < 0 || PrintTimestamp > CFE_TIME_PrintTimestamp_None)
+    {
+        return CFE_TIME_BAD_ARGUMENT;
+    }
+
+    CFE_TIME_Global.PrintTimestamp = PrintTimestamp;
+
+    if (PrintTimestamp == CFE_TIME_PrintTimestamp_DateTime)
+    {
+        char *PctF;
+
+        /* null pointer or empty string */
+        if (PrintFormat == NULL || PrintFormat[0] == '\0')
+        {
+            return CFE_TIME_BAD_ARGUMENT;
+        }
+
+        CFE_TIME_Global.PrintFormatMillis = NULL;
+
+        strncpy(CFE_TIME_Global.PrintFormat, PrintFormat, CFE_TIME_FORMAT_SIZE);
+
+        /* find the (first) "%f", and mark it so that when we call CFE_TIME_Print() it can quickly process it. */
+        PctF = CFE_TIME_Global.PrintFormat;
+        while (PctF[0] != '\0') {
+            if (PctF[0] == '%')
+            {
+                switch (PctF[1])
+                {
+                    case 'f':
+                        CFE_TIME_Global.PrintFormatMillis = PctF;
+                        break;
+                    case '\0':
+                        break;
+                    default:
+                        PctF++; /* skip forward two chars */
+                }
+            }
+            PctF++;
+        }
+    }
+
+    return CFE_SUCCESS;
+}
diff --git a/modules/time/fsw/src/cfe_time_utils.h b/modules/time/fsw/src/cfe_time_utils.h
index 8c9502bac..08e35fd9f 100644
--- a/modules/time/fsw/src/cfe_time_utils.h
+++ b/modules/time/fsw/src/cfe_time_utils.h
@@ -312,6 +312,24 @@ typedef struct
     ** One callback per app is allowed
     */
     CFE_TIME_SynchCallbackRegEntry_t SynchCallback[CFE_PLATFORM_ES_MAX_APPLICATIONS];
+
+    /*
+    ** What form should CFE_TIME_Print produce.
+    */
+    CFE_TIME_PrintTimestamp_Enum_t PrintTimestamp;
+
+    /*
+    ** For formatted CFE_TIME_Print output, use this format string.
+    */
+    char PrintFormat[CFE_TIME_FORMAT_SIZE];
+
+    /*
+    ** For strftime-style formats, the `%f` conversion spec may be specified.
+    ** When the PrintFormat is specified/updated, this pointer will
+    ** point to the location of the `%f` in the PrintFormat string, or will
+    ** be NULL if `%f` is not being used.
+    */
+    char *PrintFormatMillis;
 } CFE_TIME_Global_t;
 
 /*
@@ -867,4 +885,16 @@ int32 CFE_TIME_Sub1HZAdjustmentCmd(const CFE_TIME_Sub1HZAdjustmentCmd_t *data);
  */
 int32 CFE_TIME_SubAdjustCmd(const CFE_TIME_SubAdjustCmd_t *data);
 
+/*---------------------------------------------------------------------------------------*/
+/**
+ * @brief  Time task ground command (print format adjust)
+ */
+int32 CFE_TIME_SetPrintCmd(const CFE_TIME_SetPrintCmd_t *data);
+
+/*---------------------------------------------------------------------------------------*/
+/**
+ * @brief  Utility function to set the print format option.
+ */
+int32 CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_Enum_t PrintTimestamp, const char *PrintFormat);
+
 #endif /* CFE_TIME_UTILS_H */
diff --git a/modules/time/ut-coverage/time_UT.c b/modules/time/ut-coverage/time_UT.c
index 20161b427..5da088e5e 100644
--- a/modules/time/ut-coverage/time_UT.c
+++ b/modules/time/ut-coverage/time_UT.c
@@ -98,6 +98,8 @@ static const UT_TaskPipeDispatchId_t UT_TPID_CFE_TIME_CMD_SUB_1HZ_ADJUSTMENT_CC
 static const UT_TaskPipeDispatchId_t UT_TPID_CFE_TIME_INVALID_MID = {.MsgId = CFE_SB_MSGID_RESERVED, .CommandCode = 0};
 static const UT_TaskPipeDispatchId_t UT_TPID_CFE_TIME_CMD_INVALID_CC = {
     .MsgId = CFE_SB_MSGID_WRAP_VALUE(CFE_TIME_CMD_MID), .CommandCode = 0x7F};
+static const UT_TaskPipeDispatchId_t UT_TPID_CFE_TIME_SET_PRINT_CC = {
+    .MsgId = CFE_SB_MSGID_WRAP_VALUE(CFE_TIME_CMD_MID), .CommandCode = CFE_TIME_SET_PRINT_CC};
 
 /*
 ** Global variables
@@ -906,6 +908,76 @@ void Test_Print(void)
         UtAssert_MIR("Confirm adding seconds = %u, subseconds = %u to configured EPOCH results in time %s",
                      (unsigned int)time.Seconds, (unsigned int)time.Subseconds, timeBuf);
     }
+
+    /* Test with different format */
+    CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_DateTime, "%Y-%m-%d %H:%M");
+
+    CFE_UtAssert_SUCCESS(CFE_TIME_Print(timeBuf, time));
+    if (usingDefaultEpoch)
+    {
+        strcpy(expectedBuf, "2013-01-01 02:03");
+        UtAssert_STRINGBUF_EQ(timeBuf, sizeof(timeBuf), expectedBuf, sizeof(expectedBuf));
+    }
+    else
+    {
+        UtAssert_MIR("Confirm adding seconds = %u, subseconds = %u to configured EPOCH results in time %s",
+                     (unsigned int)time.Seconds, (unsigned int)time.Subseconds, timeBuf);
+    }
+
+    /* Test with three milliseconds spec, we only handle one and strftime ignores it */
+    CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_DateTime, "%%f.%f.%f.%f");
+
+    CFE_UtAssert_SUCCESS(CFE_TIME_Print(timeBuf, time));
+    if (usingDefaultEpoch)
+    {
+        strcpy(expectedBuf, "%f.49999.%f.%f");
+        UtAssert_STRINGBUF_EQ(timeBuf, sizeof(timeBuf), expectedBuf, sizeof(expectedBuf));
+    }
+    else
+    {
+        UtAssert_MIR("Confirm adding seconds = %u, subseconds = %u to configured EPOCH results in time %s",
+                     (unsigned int)time.Seconds, (unsigned int)time.Subseconds, timeBuf);
+    }
+
+    CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_SecsSinceStart, NULL);
+
+    CFE_UtAssert_SUCCESS(CFE_TIME_Print(timeBuf, time));
+    if (usingDefaultEpoch)
+    {
+        strcpy(expectedBuf, "49999.49999");
+        UtAssert_STRINGBUF_EQ(timeBuf, sizeof(timeBuf), expectedBuf, sizeof(expectedBuf));
+    }
+    else
+    {
+        UtAssert_MIR("Confirm adding seconds = %u, subseconds = %u to configured EPOCH results in time %s",
+                     (unsigned int)time.Seconds, (unsigned int)time.Subseconds, timeBuf);
+    }
+
+    /* Test with too-long of a format */
+    CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_DateTime, "%Y%Y%Y%Y%Y%Y%Y%Y%Y%Y%Y");
+
+    UtAssert_INT32_EQ(CFE_TIME_Print(timeBuf, time), CFE_TIME_FORMAT_TOO_LONG);
+
+    /* Test with too-long of a %f format */
+    CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_DateTime, "012345678901234567890123456%f");
+
+    UtAssert_INT32_EQ(CFE_TIME_Print(timeBuf, time), CFE_TIME_FORMAT_TOO_LONG);
+
+    /* Test with "none" option */
+    CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_None, NULL);
+    CFE_TIME_Global.PrintTimestamp = CFE_TIME_PrintTimestamp_None;
+    CFE_UtAssert_SUCCESS(CFE_TIME_Print(timeBuf, time));
+    UtAssert_STRINGBUF_EQ(timeBuf, sizeof(timeBuf), "", 1);
+
+    /* Test with DateTime option and empty format */
+    UtAssert_INT32_NEQ(CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_DateTime, ""), CFE_SUCCESS);
+
+    /* test some invalid PrintTimestamp options */
+    UtAssert_INT32_NEQ(CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_None + 1, ""), CFE_SUCCESS);
+    UtAssert_INT32_NEQ(CFE_TIME_SetPrintFormat(-1, ""), CFE_SUCCESS);
+
+    /* reset to nominal */
+    CFE_UtAssert_SUCCESS(CFE_TIME_SetPrintFormat(CFE_TIME_PrintTimestamp_DateTime, "%Y-%j %H:%M:%S.%f"));
 }
 
 /*
@@ -1331,6 +1403,7 @@ void Test_PipeCmds(void)
         CFE_TIME_SubAdjustCmd_t        subadjcmd;
         CFE_TIME_Add1HZAdjustmentCmd_t add1hzadjcmd;
         CFE_TIME_Sub1HZAdjustmentCmd_t sub1hzadjcmd;
+        CFE_TIME_SetPrintCmd_t         setprcmd;
     } CmdBuf;
 
     UT_SoftwareBusSnapshot_Entry_t LocalSnapshotData = {.MsgId = CFE_SB_MSGID_WRAP_VALUE(CFE_TIME_HK_TLM_MID)};
@@ -1928,6 +2001,26 @@ void Test_PipeCmds(void)
     UT_InitData();
     UT_CallTaskPipe(CFE_TIME_TaskPipe, &CmdBuf.message, sizeof(CmdBuf.onehzcmd), UT_TPID_CFE_TIME_1HZ_CMD);
     UtAssert_NONZERO(UT_GetStubCount(UT_KEY(CFE_PSP_GetTime)));
+
+    /* Test sending a print timestamp command */
+    UT_InitData();
+    memset(&CmdBuf, 0, sizeof(CmdBuf));
+    CFE_TIME_Global.PrintTimestamp = -1;
+    strcpy(CFE_TIME_Global.PrintFormat, "");
+    CmdBuf.setprcmd.Payload.PrintTimestamp = CFE_TIME_PrintTimestamp_SecsSinceStart;
+    UT_CallTaskPipe(CFE_TIME_TaskPipe, &CmdBuf.message, sizeof(CmdBuf.setprcmd), UT_TPID_CFE_TIME_SET_PRINT_CC);
+    UtAssert_UINT32_EQ(CFE_TIME_Global.PrintTimestamp, CFE_TIME_PrintTimestamp_SecsSinceStart);
+
+    /* Test sending another print timestamp command */
+    UT_InitData();
+    memset(&CmdBuf, 0, sizeof(CmdBuf));
+    CFE_TIME_Global.PrintTimestamp = -1;
+    strcpy(CFE_TIME_Global.PrintFormat, "");
+    CmdBuf.setprcmd.Payload.PrintTimestamp = CFE_TIME_PrintTimestamp_DateTime;
+    strcpy(CmdBuf.setprcmd.Payload.PrintFormat, "%Y-%j %H:%M:%S.%f");
+    UT_CallTaskPipe(CFE_TIME_TaskPipe, &CmdBuf.message, sizeof(CmdBuf.setprcmd), UT_TPID_CFE_TIME_SET_PRINT_CC);
+    UtAssert_UINT32_EQ(CFE_TIME_Global.PrintTimestamp, CFE_TIME_PrintTimestamp_DateTime);
+    UtAssert_StrCmp(CFE_TIME_Global.PrintFormat, CmdBuf.setprcmd.Payload.PrintFormat, "Print Format '%s'", CFE_TIME_Global.PrintFormat);
 }
 
 /*