You said that you suffer from depression, but what you're describing is an anxiety disorder. There are a couple therapies that will work for you: 1) behavior therapy will use learning processes (reinforcement, etc.) to help you stop freaking out in the circumstances you described. 2) cognitive behavioral therapy will do the same as 1, but will play with the thought processes that get you to the anxiety. CBT helps both the symptoms and starts to get at the root of the problem.
In my (trained) opinion, CBT will help most for you, but you definitely need a therapist for it. A psychologist, as opposed to psychiatrist, will be more likely to use non-drug therapies, so you should go see a psychologist.
Your disorder is easily treated. There are some treatment protocols that can cure this in one session, but you will most likely take a gentler approach.
If your depression is a result of this anxiety disorder, then you will kill two birds with one stone if your therapist addresses your "problem" as an anxiety disorder.
So my advice is: some universities have a psychological clinic that offers sliding-scale fees (the amount you pay is proportionate to your income), so you should call there. I know our clinic is excellent. But if that doesn't apply to your area, make sure it is a psychologist you see, and not a psychiatrist.
Also, this was in no way a diagnosis. From what you said about your problem, it sounds to me like an anxiety disorder. There may be more to your story that changes the problem that I don't know.
If you need more info or anything else, PM me.
