Hey, I bet that is a MiniDV tape right?
It may even be a Canon Camera?
Well either way, you need to use a cleaning tape on the camera. (Follow the instructions on the cleaning tape/instrections that came with it properly, you could hurt the camera if not)
The heads are dirty, and while it is importing the camera some times hits the audio track with a dirty part, and at that exacty point it cant read the audio, so for some reason a beep occurs.
Good luck!
-Owl