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My Cavalier does the same thing. Once simply locks all doors and twice locks with the horn, signaling the "anti-theft" activation. If you try to open the door without unlocking it with the fob first (whether it's manually unlocking from the inside or even from the outside with the key) the horn goes off (panic mode) until you start the car. I've just gotten into the habit of locking twice for both the audio feedback as well as for potentially fooling the local thieves. Chances are if anyone breaks out a window they will then unlock the door to get better access so they'll trip the panic mode, keep them from stealing my non-stock stereo perhaps.
Anyway, if the Camaro defaults to the same behavior just hit the lock button once and it should be silent, as mentioned above.
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