Solution 1:

You can disable PIN checking using the built in GSM modem as described here.

Solution 2:

To avoid the popup, you can disable the PIN on your SIM card. As an alternative to using gsmctl as in the accepted answer, you can use qmicli. Assuming your PIN is 1234:

sudo apt-get install libqmi-utils
sudo qmicli -d /dev/cdc-wdm0 --dms-uim-get-pin-status
sudo qmicli -d /dev/cdc-wdm0 --dms-uim-set-pin-protection=PIN,disable,1234
sudo qmicli -d /dev/cdc-wdm0 --dms-uim-get-pin-status

(qmicli can also disable PIN2, should anyone need that.)

Solution 3:

You can store the PIN in the configuration, then network-manager won't ask for it again.

Graphical Way

Open Network-Connections, go to tab 'Mobile Broadband'

Screenshot, Network-Connections

Click 'Edit' and go again to the tab 'Mobile Broadband'

Screenshot, Mobile Broadband

Enter your PIN here, then it shouldn't ask for it again.

Command-line

This is an alternative to the way described above. No need to do both ways!

cd /etc/NetworkManager/system-connections/

There open the configuration-file of your broadband with your favorite editor. In my case: sudo gedit ./beeline There should be a [gsm]-section, here you can add your PIN code pin=1234. If the gsm-section does not exist add the following to the end of the file:

[gsm]
pin=1234