I had the same issue after the update. I couldn't find any info on it, so I tried the "factory reset" option. That took care of it and I got to reload my contacts, apps, email settings.... Thanks Samsung.
I know it seems drastic but I was desperate for an easy fix...
Do a factory restore. It keeps the GPS fix update (which was actually even better after my restore) and gets rid of the recurring message.
I did notice that before I did the restore "Software Update" was telling me "No Firmware" and afterwards it says it has trouble connecting to the server. Either way the restore was more advantageous. It broke nothing considering Software Update didn't work before anymore after the GPS fix update.
I had this problem and I found a post (can't remember if it was here or another site's forum) where I deleted the cache for Download Manager (I think that's the name or maybe it was Device Management - look under Settings...) and now I no longer get this message. Sorry I can't remember the details but you may be able to find it.