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You should be able to stop the notification,it is just for phone's safety.
Because water damage can be pretty nasty and making the user responsible,so Sony will not have to repair under warranty.The flaps must be checked by you,to be safe if you want to submerge the phone.
There are no sensors,just like Sam said in the post link I gave you.But,for the users to always check them,it is better this way.
I do not own Z1,I only know about the messages.