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Convert strange formate character date to date in R

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I have a dataset Peil_1 with column "timestamp" representing the time "value" was measured.

# A tibble: 175,350 x 5
   Timestamp                     Value `Quality Code` `Absolute Value` `AV Quality Code`
   <chr>                         <dbl>          <dbl>            <dbl>             <dbl>
 1 2014-11-01T00:00:00.000+01:00 0.712             10             12.4                10
 2 2014-11-01T00:15:00.000+01:00 0.712             10             12.4                10
 3 2014-11-01T00:30:00.000+01:00 0.712             10             12.4                10
 4 2014-11-01T00:45:00.000+01:00 0.712             10             12.4                10
 5 2014-11-01T01:00:00.000+01:00 0.712             10             12.4                10
 6 2014-11-01T01:15:00.000+01:00 0.712             10             12.4                10
 7 2014-11-01T01:30:00.000+01:00 0.712             10             12.4                10
 8 2014-11-01T01:45:00.000+01:00 0.713             10             12.4                10
 9 2014-11-01T02:00:00.000+01:00 0.713             10             12.4                10
10 2014-11-01T02:15:00.000+01:00 0.713             10             12.4                10
# ... with 175,340 more rows

I want to convert Peil_1$timestamp to a time or date format. I thought to use as.date, but I don't know how to handle the T00: 00: 00,000 + 1: 00 part


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