Subaru's Driver Monitoring system keeps an eye on your eyes via a camera on the dashboard between the tachometer and the odometer. If your eyes look away from the road for a very brief moment, or if your eyelids droop as if to suggest that you're getting drowsy, the system will pop up the warning you've been seeing, or it may even let out an audible signal.
The system takes no account of the last time it alerted you.
There may be a way to disable it in the Settings menus.
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