To use a specific snapshot version of a dependency, the referenced artifact should be installed/deployed with a unique snapshot version number. See the uniqueVersion element in the POM reference/Repository.
In this case you can reference it like:
...
<dependency>
<groupId>groupid</groupId>
<artifactId>artifact-id</artifactId>
<version>1.0.0-20090610.041042-5</version>
</dependency>
...
Maven repository manager servers may have additional related features, like overriding the pom.xml‘s uniqueVersion setting. For example see the Artifactory User Guide about this feature (additionally, you can read here some arguments against using unique snapshot version numbers).