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Help GPS turns on when not using maps or a App that requires it.

Wait which gps icon are you talking about, There are 2. One of them shows up on the left side that blinks in some way till it gets your location. This one is only active if there's an app actively using the GPS. The other one shows up on the right (looks like its near the center and it looks like a circle with a + I think). The one on the right I believe is a samsung icon that will always be on if you have gps enabled. I'm sure I didn't have it when i first got my phone but after it showed up, it never went away until I flashed a fresh ROM.
 
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