No. You can have the PDF open in the user’s default PDF program, but not in a browser window or tab, this is a coding limitation with regard to popups. The only way to have the PDF open in a new browser window or tab is for the user to click on a link and use the inline=1 shortcode parameter.
The new E2Pdf version is, in the future, expected to include a PDF viewer for WP which will accommodate an instant PDF view after submit. Users of PRO2PDF may migrate to E2Pdf at no charge.