The best suggestion I've heard for this (IMO) is to check the box that will set your response to the popup as the default, and then choose "Maintain Current Orders."
So when that same situation happens again, you will not get the popup box but nothing will happen automatically, and you will be able to give whatever order you want in response to the situation.
That's what I'm doing, anyway. I'd rather not be interrupted by the popup but I don't want the game to be giving the same default order in any particular situation just because I chose that option on one occasion.
If you've already checked something like "go to periscope depth" and set it as the default, though, you have to reset the options before you can get the popup back and change the default to "maintain current orders."
As noted above I think if you hit the Escape key you will have then have the option to reset things so you can make use of the popup box again in whatever way you choose.
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