I had the same thing happen to me, but instead of clicking "Ok" and trying to click "Back" for 15 minutes, I came up with a much simpler solution.
1. Double tap the iPhone home button then close Cydia
2. When you return to your home screen get ready to open Cydia. As soon as you click to open the Cydia app immediately tap repeatedly in the top left corner where the "Back" button was and if done fast enough you should back out of the iOS Crash Warning on your first try.
Brandon Jones
www.waterbrookinsurance.com
Orlando, Florida
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Did this exactly after clearing my Safari's history and website data. Worked like a charm.