error: use of undeclared identifier 'printf'

printf$("$Segment $\%$d: $\%$u meters $\%02$u:$\%02$u:$\%02$u$.\%03$u

$",$ i $+1,$ myWorkout.segmentDistances$[$i$],$ hours, minutes, seconds, milliseconds$)$;

$^$

$1$ error generated.