372nd century

An expedition landed on the planet Zeta Minor in the year 37,166. The Doctor and Sarah Jane Smith landed shortly afterwards. The date 37,122 appeared on the gravesite of a dead crew member. (DW: Planet of Evil)

Behind the scenes
Doctor Who: The Time Traveller's Almanac establishes this as referring to the 372nd century dating and not simply a date unrelated to that used by Humans in the modern era. The Doctor as well said that he and Sarah Jane were about 30 thousand years in her future.