diff --git a/gps002.py b/gps002.py
new file mode 100644
index 0000000..847fca6
--- /dev/null
+++ b/gps002.py
@@ -0,0 +1,93 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import serial
+import time
+import os
+import csv
+from datetime import datetime
+import pynmea2
+
+# GPIO configuration
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+ser = serial.Serial('/dev/ttyUSB3', 115200)
+ser.flushInput()
+
+myhost = os.uname()[1]
+
+# CSV file settings
+csv_filename = f"gps_data_{myhost}.csv"
+csv_headers = ["Timestamp", "Latitude", "Longitude"]
+
+def parse_gps_data(gps_string):
+    try:
+        msg = pynmea2.parse(gps_string)
+        if isinstance(msg, pynmea2.GGA):
+            if msg.latitude and msg.longitude:
+                return f"{msg.latitude:.6f}", f"{msg.longitude:.6f}"
+    except pynmea2.ParseError as e:
+        print(f"Parse error: {e}")
+    return None, None
+
+def write_to_csv(lat, lon):
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+    with open(csv_filename, mode='a', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow([timestamp, lat, lon])
+    time.sleep(12)
+
+def send_at(command, back, timeout):
+    ser.write((command + '\r\n').encode())
+    time.sleep(timeout)
+    if ser.inWaiting():
+        time.sleep(0.01)
+        rec_buff = ser.read(ser.inWaiting()).decode()
+        if back not in rec_buff:
+            print(command + ' ERROR')
+            print(command + ' back:\t' + rec_buff)
+            return 0
+        else:
+            print("Raw GPS data:", rec_buff)
+            gps_sentences = rec_buff.split('\r\n')
+            for sentence in gps_sentences:
+                if sentence.startswith('$'):
+                    lat, lon = parse_gps_data(sentence)
+                    if lat and lon:
+                        print(f"Parsed GPS data: {lat}, {lon}")
+                        write_to_csv(lat, lon)
+                        return 1
+            print('No valid GPS data found')
+            return 0
+    else:
+        print('GPS is not ready')
+        return 0
+
+def get_gps_position():
+    print('Starting GPS')
+    send_at('AT+CGPS=1,1', 'OK', 1)
+    time.sleep(2)
+    
+    while True:
+        answer = send_at('AT+CGPSINFO', '+CGPSINFO: ', 1)
+        if answer == 1:
+            break
+        else:
+            print('Waiting for GPS fix...')
+        time.sleep(2)
+
+# Create CSV file with headers if it doesn't exist
+if not os.path.exists(csv_filename):
+    with open(csv_filename, mode='w', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow(csv_headers)
+
+try:
+    get_gps_position()
+except Exception as e:
+    print(f"Error: {e}")
+finally:
+    if ser:
+        ser.close()
+    GPIO.cleanup()
diff --git a/gps003.py b/gps003.py
new file mode 100644
index 0000000..f9fb9ad
--- /dev/null
+++ b/gps003.py
@@ -0,0 +1,106 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import serial
+import time
+import os
+import csv
+from datetime import datetime
+import pynmea2
+
+# GPIO configuration
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+ser = serial.Serial('/dev/ttyUSB3', 115200)
+ser.flushInput()
+
+myhost = os.uname()[1]
+
+# CSV file settings
+csv_filename = f"gps_data_{myhost}.csv"
+csv_headers = ["Timestamp", "Latitude", "Longitude"]
+
+def parse_gps_data(gps_string):
+    try:
+        msg = pynmea2.parse(gps_string)
+        print(f"Parsed message type: {type(msg).__name__}")
+        if hasattr(msg, 'latitude') and hasattr(msg, 'longitude'):
+            return f"{msg.latitude:.6f}", f"{msg.longitude:.6f}"
+        else:
+            print(f"Message doesn't contain lat/lon. Available attributes: {msg.fields}")
+    except pynmea2.ParseError as e:
+        print(f"Parse error: {e}")
+    return None, None
+
+def write_to_csv(lat, lon):
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+    with open(csv_filename, mode='a', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow([timestamp, lat, lon])
+    time.sleep(12)
+
+def send_at(command, back, timeout):
+    print(f"Sending command: {command}")
+    ser.write((command + '\r\n').encode())
+    time.sleep(timeout)
+    if ser.inWaiting():
+        time.sleep(0.01)
+        rec_buff = ser.read(ser.inWaiting()).decode()
+        print(f"Received data: {rec_buff}")
+        if back not in rec_buff:
+            print(command + ' ERROR')
+            print(command + ' back:\t' + rec_buff)
+            return 0
+        else:
+            print("Raw GPS data:", rec_buff)
+            gps_sentences = rec_buff.split('\r\n')
+            for sentence in gps_sentences:
+                print(f"Processing sentence: {sentence}")
+                if sentence.startswith('$'):
+                    lat, lon = parse_gps_data(sentence)
+                    if lat and lon:
+                        print(f"Valid GPS data found: {lat}, {lon}")
+                        write_to_csv(lat, lon)
+                        return 1
+            print('No valid GPS data found in this response')
+            return 0
+    else:
+        print('No data received from GPS')
+        return 0
+
+def get_gps_position():
+    print('Starting GPS')
+    send_at('AT+CGPS=1,1', 'OK', 1)
+    time.sleep(2)
+    
+    attempts = 0
+    max_attempts = 10
+    while attempts < max_attempts:
+        print(f"Attempt {attempts + 1} of {max_attempts}")
+        answer = send_at('AT+CGPSINFO', '+CGPSINFO:', 1)
+        if answer == 1:
+            print("Valid GPS data received and processed")
+            break
+        else:
+            print('Waiting for GPS fix...')
+        attempts += 1
+        time.sleep(2)
+    
+    if attempts == max_attempts:
+        print("Max attempts reached. GPS fix not obtained.")
+
+# Create CSV file with headers if it doesn't exist
+if not os.path.exists(csv_filename):
+    with open(csv_filename, mode='w', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow(csv_headers)
+
+try:
+    get_gps_position()
+except Exception as e:
+    print(f"Error: {e}")
+finally:
+    if ser:
+        ser.close()
+    GPIO.cleanup()
diff --git a/gps004.py b/gps004.py
new file mode 100644
index 0000000..96c5c3f
--- /dev/null
+++ b/gps004.py
@@ -0,0 +1,119 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import serial
+import time
+from datetime import datetime
+import os
+import csv
+
+# GPIO configuration
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+ser = serial.Serial('/dev/ttyUSB3', 115200)
+ser.flushInput()
+
+myhost = os.uname()[1]
+
+# CSV file settings
+csv_filename = f"gps_data_{myhost}.csv"
+csv_headers = ["Timestamp", "Latitude", "Longitude", "Date", "Time", "Altitude", "Speed"]
+
+def parse_gps_data(gps_string):
+    parts = gps_string.split(',')
+    if len(parts) < 8 or all(part == '' for part in parts):
+        return None
+    
+    try:
+        lat = float(parts[0][:2]) + float(parts[0][2:]) / 60
+        if parts[1] == 'S':
+            lat = -lat
+        
+        lon = float(parts[2][:3]) + float(parts[2][3:]) / 60
+        if parts[3] == 'W':
+            lon = -lon
+        
+        date = parts[4]
+        gps_time = parts[5]  # Renamed to avoid conflict with time module
+        altitude = parts[6]
+        speed = parts[7]
+        
+        return f"{lat:.6f}", f"{lon:.6f}", date, gps_time, altitude, speed
+    except ValueError as e:
+        print(f"Error parsing GPS data: {e}")
+        return None
+
+def write_to_csv(lat, lon, date, gps_time, altitude, speed):
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+    with open(csv_filename, mode='a', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow([timestamp, lat, lon, date, gps_time, altitude, speed])
+
+def send_at(command, back, timeout):
+    print(f"Sending command: {command}")
+    ser.write((command + '\r\n').encode())
+    time.sleep(timeout)
+    if ser.inWaiting():
+        time.sleep(0.01)
+        rec_buff = ser.read(ser.inWaiting()).decode()
+        print(f"Received data: {rec_buff}")
+        if back not in rec_buff:
+            print(command + ' ERROR')
+            print(command + ' back:\t' + rec_buff)
+            return 0
+        else:
+            try:
+                gps_data = rec_buff.split('+CGPSINFO: ')[1].split('\r\n')[0]
+                print(f"Extracted GPS data: {gps_data}")
+                parsed_data = parse_gps_data(gps_data)
+                if parsed_data:
+                    lat, lon, date, gps_time, altitude, speed = parsed_data
+                    print(f"Parsed GPS data: Lat: {lat}, Lon: {lon}, Date: {date}, Time: {gps_time}, Altitude: {altitude}, Speed: {speed}")
+                    write_to_csv(lat, lon, date, gps_time, altitude, speed)
+                    return 1
+                else:
+                    print("No valid GPS data found in this response")
+                    return 0
+            except IndexError:
+                print("Unexpected response format")
+                return 0
+    else:
+        print('No data received from GPS')
+        return 0
+
+def get_gps_position():
+    print('Starting GPS')
+    send_at('AT+CGPS=1,1', 'OK', 1)
+    time.sleep(2)
+    
+    attempts = 0
+    max_attempts = 10
+    while attempts < max_attempts:
+        print(f"Attempt {attempts + 1} of {max_attempts}")
+        answer = send_at('AT+CGPSINFO', '+CGPSINFO:', 1)
+        if answer == 1:
+            print("Valid GPS data received and processed")
+            break
+        else:
+            print('Waiting for GPS fix...')
+        attempts += 1
+        time.sleep(2)
+    
+    if attempts == max_attempts:
+        print("Max attempts reached. GPS fix not obtained.")
+
+# Create CSV file with headers if it doesn't exist
+if not os.path.exists(csv_filename):
+    with open(csv_filename, mode='w', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow(csv_headers)
+
+try:
+    get_gps_position()
+except Exception as e:
+    print(f"Error: {e}")
+finally:
+    if ser:
+        ser.close()
+    GPIO.cleanup()
diff --git a/gps005.py b/gps005.py
new file mode 100644
index 0000000..d2c58f5
--- /dev/null
+++ b/gps005.py
@@ -0,0 +1,142 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import serial
+import time
+from datetime import datetime
+import os
+import csv
+import signal
+import sys
+
+# GPIO configuration
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+ser = serial.Serial('/dev/ttyUSB3', 115200)
+ser.flushInput()
+
+myhost = os.uname()[1]
+
+# CSV file settings
+csv_filename = f"gps_data_{myhost}.csv"
+csv_headers = ["Timestamp", "Latitude", "Longitude", "Date", "Time", "Altitude", "Speed"]
+
+# Global flag for graceful exit
+running = True
+
+def signal_handler(sig, frame):
+    global running
+    print('You pressed Ctrl+C! Stopping GPS tracking...')
+    running = False
+
+signal.signal(signal.SIGINT, signal_handler)
+
+def parse_gps_data(gps_string):
+    parts = gps_string.split(',')
+    if len(parts) < 8 or all(part == '' for part in parts):
+        return None
+    
+    try:
+        lat = float(parts[0][:2]) + float(parts[0][2:]) / 60
+        if parts[1] == 'S':
+            lat = -lat
+        
+        lon = float(parts[2][:3]) + float(parts[2][3:]) / 60
+        if parts[3] == 'W':
+            lon = -lon
+        
+        date = parts[4]
+        gps_time = parts[5]
+        altitude = parts[6]
+        speed = parts[7]
+        
+        return f"{lat:.6f}", f"{lon:.6f}", date, gps_time, altitude, speed
+    except ValueError as e:
+        print(f"Error parsing GPS data: {e}")
+        return None
+
+def write_to_csv(lat, lon, date, gps_time, altitude, speed):
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+    with open(csv_filename, mode='a', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow([timestamp, lat, lon, date, gps_time, altitude, speed])
+
+def send_at(command, back, timeout):
+    print(f"Sending command: {command}")
+    ser.write((command + '\r\n').encode())
+    time.sleep(timeout)
+    if ser.inWaiting():
+        time.sleep(0.01)
+        rec_buff = ser.read(ser.inWaiting()).decode()
+        print(f"Received data: {rec_buff}")
+        if back not in rec_buff:
+            print(command + ' ERROR')
+            print(command + ' back:\t' + rec_buff)
+            return 0
+        else:
+            try:
+                gps_data = rec_buff.split('+CGPSINFO: ')[1].split('\r\n')[0]
+                print(f"Extracted GPS data: {gps_data}")
+                parsed_data = parse_gps_data(gps_data)
+                if parsed_data:
+                    lat, lon, date, gps_time, altitude, speed = parsed_data
+                    print(f"Parsed GPS data: Lat: {lat}, Lon: {lon}, Date: {date}, Time: {gps_time}, Altitude: {altitude}, Speed: {speed}")
+                    write_to_csv(lat, lon, date, gps_time, altitude, speed)
+                    return 1
+                else:
+                    print("No valid GPS data found in this response")
+                    return 0
+            except IndexError:
+                print("Unexpected response format")
+                return 0
+    else:
+        print('No data received from GPS')
+        return 0
+
+def get_gps_position():
+    answer = send_at('AT+CGPSINFO', '+CGPSINFO:', 1)
+    if answer == 1:
+        print("Valid GPS data received and processed")
+    else:
+        print('Waiting for GPS fix...')
+
+def initialize_gps():
+    print('Starting GPS')
+    send_at('AT+CGPS=1,1', 'OK', 1)
+    time.sleep(2)
+
+    attempts = 0
+    max_attempts = 10
+    while attempts < max_attempts:
+        print(f"Initialization attempt {attempts + 1} of {max_attempts}")
+        if get_gps_position() == 1:
+            print("GPS initialized successfully")
+            return True
+        attempts += 1
+        time.sleep(2)
+    
+    print("Failed to initialize GPS after maximum attempts")
+    return False
+
+# Create CSV file with headers if it doesn't exist
+if not os.path.exists(csv_filename):
+    with open(csv_filename, mode='w', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow(csv_headers)
+
+try:
+    if initialize_gps():
+        print("Starting continuous GPS tracking. Press Ctrl+C to stop.")
+        while running:
+            get_gps_position()
+            time.sleep(10)  # Wait for 10 seconds before the next reading
+    else:
+        print("GPS initialization failed. Exiting.")
+except Exception as e:
+    print(f"Error: {e}")
+finally:
+    if ser:
+        ser.close()
+    GPIO.cleanup()
+    print("GPS tracking stopped. Goodbye!")
diff --git a/gps006.py b/gps006.py
new file mode 100644
index 0000000..d617428
--- /dev/null
+++ b/gps006.py
@@ -0,0 +1,94 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import serial
+import time
+from datetime import datetime
+import os
+import csv
+import signal
+
+# GPIO configuration
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+ser = serial.Serial('/dev/ttyUSB3', 115200)
+ser.flushInput()
+
+myhost = os.uname()[1]
+
+# CSV file settings
+csv_filename = f"gps_data_{myhost}.csv"
+csv_headers = ["Timestamp", "Latitude", "Longitude"]
+
+# Global flag for graceful exit
+running = True
+
+def signal_handler(sig, frame):
+    global running
+    print('You pressed Ctrl+C! Stopping GPS tracking...')
+    running = False
+
+signal.signal(signal.SIGINT, signal_handler)
+
+def parse_gps_data(gps_string):
+    parts = gps_string.split(',')
+    if len(parts) < 4:
+        return None
+    
+    lat = float(parts[0][:2]) + float(parts[0][2:]) / 60
+    if parts[1] == 'S':
+        lat = -lat
+    
+    lon = float(parts[2][:3]) + float(parts[2][3:]) / 60
+    if parts[3] == 'W':
+        lon = -lon
+    
+    return f"{lat:.6f}", f"{lon:.6f}"
+
+def write_to_csv(lat, lon):
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+    with open(csv_filename, mode='a', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow([timestamp, lat, lon])
+
+def send_at(command, back, timeout):
+    ser.write((command + '\r\n').encode())
+    time.sleep(timeout)
+    if ser.inWaiting():
+        time.sleep(0.01)
+        rec_buff = ser.read(ser.inWaiting()).decode()
+        if back in rec_buff:
+            gps_data = rec_buff.split('+CGPSINFO: ')[1].split('\r\n')[0]
+            parsed_data = parse_gps_data(gps_data)
+            if parsed_data:
+                lat, lon = parsed_data
+                print(f"GPS: Lat: {lat}, Lon: {lon}")
+                write_to_csv(lat, lon)
+                return 1
+    return 0
+
+def get_gps_position():
+    send_at('AT+CGPSINFO', '+CGPSINFO:', 1)
+
+def initialize_gps():
+    print('Starting GPS')
+    send_at('AT+CGPS=1,1', 'OK', 1)
+    time.sleep(2)
+
+# Create CSV file with headers if it doesn't exist
+if not os.path.exists(csv_filename):
+    with open(csv_filename, mode='w', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow(csv_headers)
+
+initialize_gps()
+print("Starting continuous GPS tracking. Press Ctrl+C to stop.")
+
+while running:
+    get_gps_position()
+    time.sleep(10)  # Wait for 10 seconds before the next reading
+
+ser.close()
+GPIO.cleanup()
+print("GPS tracking stopped. Goodbye!")
diff --git a/gps007.py b/gps007.py
new file mode 100644
index 0000000..95a36a7
--- /dev/null
+++ b/gps007.py
@@ -0,0 +1,103 @@
+#!/usr/bin/python
+# -*- coding:utf-8 -*-
+import RPi.GPIO as GPIO
+import serial
+import time
+from datetime import datetime
+import os
+import csv
+import signal
+
+# GPIO configuration
+GPIO.setmode(GPIO.BCM)
+GPIO.setwarnings(False)
+
+ser = serial.Serial('/dev/ttyUSB3', 115200)
+ser.flushInput()
+
+myhost = os.uname()[1]
+
+# CSV file settings
+csv_filename = f"gps_data_{myhost}.csv"
+csv_headers = ["Timestamp", "Latitude", "Longitude"]
+
+# Global flag for graceful exit
+running = True
+
+def signal_handler(sig, frame):
+    global running
+    print('You pressed Ctrl+C! Stopping GPS tracking...')
+    running = False
+
+signal.signal(signal.SIGINT, signal_handler)
+
+def parse_gps_data(gps_string):
+    parts = gps_string.split(',')
+    if len(parts) < 4 or not parts[0] or not parts[2]:
+        return None
+    
+    try:
+        lat = float(parts[0][:2]) + float(parts[0][2:]) / 60
+        if parts[1] == 'S':
+            lat = -lat
+        
+        lon = float(parts[2][:3]) + float(parts[2][3:]) / 60
+        if parts[3] == 'W':
+            lon = -lon
+        
+        return f"{lat:.6f}", f"{lon:.6f}"
+    except ValueError:
+        return None
+
+def write_to_csv(lat, lon):
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+    with open(csv_filename, mode='a', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow([timestamp, lat, lon])
+
+def send_at(command, back, timeout):
+    ser.write((command + '\r\n').encode())
+    time.sleep(timeout)
+    if ser.inWaiting():
+        time.sleep(0.01)
+        rec_buff = ser.read(ser.inWaiting()).decode()
+        if back in rec_buff:
+            gps_data = rec_buff.split('+CGPSINFO: ')[1].split('\r\n')[0]
+            parsed_data = parse_gps_data(gps_data)
+            if parsed_data:
+                lat, lon = parsed_data
+                print(f"GPS: Lat: {lat}, Lon: {lon}")
+                write_to_csv(lat, lon)
+                return 1
+            else:
+                print("Invalid GPS data received")
+        else:
+            print("Unexpected response from GPS module")
+    else:
+        print("No data received from GPS module")
+    return 0
+
+def get_gps_position():
+    send_at('AT+CGPSINFO', '+CGPSINFO:', 1)
+
+def initialize_gps():
+    print('Starting GPS')
+    send_at('AT+CGPS=1,1', 'OK', 1)
+    time.sleep(2)
+
+# Create CSV file with headers if it doesn't exist
+if not os.path.exists(csv_filename):
+    with open(csv_filename, mode='w', newline='') as file:
+        writer = csv.writer(file)
+        writer.writerow(csv_headers)
+
+initialize_gps()
+print("Starting continuous GPS tracking. Press Ctrl+C to stop.")
+
+while running:
+    get_gps_position()
+    time.sleep(2)  # Wait for 10 seconds before the next reading
+
+ser.close()
+GPIO.cleanup()
+print("GPS tracking stopped. Goodbye!")
diff --git a/gps_data_raspberrypi.csv b/gps_data_raspberrypi.csv
index 3619008..e5dc4ce 100644
--- a/gps_data_raspberrypi.csv
+++ b/gps_data_raspberrypi.csv
@@ -9844,3 +9844,38 @@ Timestamp,Latitude,Longitude
 2024-07-24 19:33:34,9.939922,-84.104880
 2024-07-24 19:33:49,9.939921,-84.104880
 2024-07-24 19:34:04,9.939921,-84.104879
+2024-07-24 19:54:56,9.939955,-84.104903
+2024-07-24 19:55:21,9.939954,-84.104904
+2024-07-24 19:56:50,9.939957,-84.104904
+2024-07-24 20:00:54,9.939958,-84.104903
+2024-07-24 20:01:16,9.939958,-84.104903
+2024-07-24 20:03:54,9.939959,-84.104901
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