A lot depends on how you plan on looking up times? Personally, I'd use a lightweight database, like
DBD::DB_File, so that I can offload all my date arithmetic to something that does it, and does it correctly (and fast). Thus, your question could be reworded (using SQL) as
SELECT pressure
FROM baro_over_time
WHERE time_measured < ?
ORDER BY time_measured DESC
Then, the first value returned is the one you want. (Since the values are in descending order, the last measurement before the time specified is the first one returned.)
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