As Nate's article links to, you can have your Arduino serve the page your Kindle is expecting, but there is a simpler way... and I promise, no jailbreak is required.
Put a plain text file called "WIFI_NO_NET_PROBE" in the root of the userstore.
(That is, "/mnt/us/WIFI_NO_NET_PROBE" in the device's filesystem, but "K:\WIFI_NO_NET_PROBE" when plugged into a Windows PC, or "/media/Kindle/WIFI_NO_NET_PROBE" when plugged into a linux PC.)
There cannot be a .txt extension! (Windows tried to create one automatically, and may hide extensions from you, depending on your settings.)
Now, reboot your Kindle.
What this does: ordinarily, the Kindle probes a wifi-stub page on Amazon's servers, and if it doesn't receive the right response, it assumes the WiFi network is locked with a captive portal. It pops up the message that additional authentication may be required.
This file flag disables that check.
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