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It's in the manual, if you have one. I don't have the book with me, but I did read it last week. Has to do with pushing the button in on the turn signal indicator, and its not easy to do.
Do you have the OEM alarm? IIRC, that's the only way it beeps.
It is dealer configurable - they can turn off the beep (but it usually costs 1/2 hour labor)
I could live with out it beeping everytime I lock or unlock the doors. The dealer installed it as an add on. I do not know if I would have payed the $800 they charged for it if it was not already on the car.
It's a convertible, someone will probably cut your top if you lock it and they want in. "Everybody" says you should never lock a soft top. No beeping if you don't!