I haven't been able to figure out or find out from searching around what units or format this time field is in my LiDAR data that was collected?
LiDAR times often come in GPS time or time since the GPS epoch. Here is a stack exchange link with more detail (What is a GPS epoch?) This look like GPS seconds. Your data should also include a column of data that shows the GPS week You can use the week and seconds data to convert the pulse time to human-readable time using a website like GPS Time Calculator. If you have Python still you can use Module gpstime.