For Mac OS X, it's date -r <timestamp_in_seconds_with_no_fractions>
$ date -r 1553024528Tue Mar 19 12:42:08 PDT 2019
or
$ date -r `expr 1553024527882 / 1000`Tue Mar 19 12:42:07 PDT 2019
or
$ date -r $((1553024527882/1000))Tue Mar 19 12:42:07 PDT 2019