The T is just a literal to separate the date from the time, and the Z means "zero hour offset" also known as "Zulu time" (UTC). If your strings always have a "Z" you can use:
SimpleDateFormat format = new SimpleDateFormat(
"yyyy-MM-dd'T'HH:mm:ss.SSS'Z'", Locale.US);
format.setTimeZone(TimeZone.getTimeZone("UTC"));
Or using Joda Time, you can use ISODateTimeFormat.dateTime()
.
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