Generally it only warns you if you have an active service on such as VZW Location or the Standalone GPS services set to "on". I only toggle the Standalone service on when I need driving directions. I never use VZW.
Go to menu>settings>location and make sure everything is turned off. Now I personally keep the Google service on since it doesn't bother me with a warning and I can still keep track of family using the Latitude app and get relative locations for any searches I am doing.
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