Recently I was struggling with the same problem: finding a decent iPhone app that would record GPS tracks for later geotagging. I couldn’t find any that I liked and I wrote my own. I invite you to try
Trckr. I designed it to be light, easy to use, and to save the battery life as much as possible while still recording tracks in background.
I understand that this might look like advertising, but I really struggled with this problem, and I wanted to share my results with you. I have Ricoh GR camera myself that I love, and I always wanted to geotag photos made with it without carrying any devices other than iPhone.