This paper considers the differences in the software execution environments in the testing phase and the operational phase to determine the optimal release time and warranty period of software systems. We formulate equations for the total expected software cost until the end of the software life cycle based on the NHPP. In addition, we derive the optimal release time that minimizes the total expected software cost for an imperfect debugging software reliability model. Finally, we analyze the sensitivity of the optimal testing and maintenance design related to variation of the cost model parameters based on the fault data observed in the actual testing process, and discuss the quantitative properties of the proposed model.