pandas read_csv, parse_dates, infer_datetime_format, datetime:
import pandas as pd
a=pd.read_csv('nu.txt',parse_dates=[0],infer_datetime_format=True,sep=',',header=None)
a.iloc[:,0]
0 2015-04-02 19:07:53.951
1 2015-04-02 19:07:53.951
2 2015-04-02 19:07:53.951
3 2015-04-02 19:07:53.951
Name: 0, dtype: datetime64[ns]
, numpy:
b=np.array(a)
array([[Timestamp('2015-04-02 19:07:53.951000'), 3195L, 1751L, -44L, -25L],
[Timestamp('2015-04-02 19:07:53.951000'), 3195L, 1751L, -44L, -25L],
[Timestamp('2015-04-02 19:07:53.951000'), 3195L, 1751L, -44L, -25L],
[Timestamp('2015-04-02 19:07:53.951000'), 3195L, 1751L, -44L, -25L]], dtype=object)