Seeking advice for recording telemetry

I'm working on an application that receives telemetry [latitude, longitude, datetime] on average 30 times a second. I'd like to store this telemetry in a collection but i'm confused over the best approach.

The collection will only store the last ten seconds worth of data so it will need to discard old data.
I wish to identify the latest telemetry that has been added to the collection as well as identifying the telemetry nearest to two seconds past from the latest record.

I'd appreciate any thoughts on what to use that is most efficient. If possible i'd like to make the removal of old telemetry occur as simply as possible when the new telemetry comes in.