Put it right after the mistake happens in your edit, between an Enemy Spotted warning and a Roblox Oof landing, so the whole sequence moves from warning to reaction to defeat.
About this sound
This is Ross, the central pig from Bad Piggies, letting out a brief high-pitched squeal that shoots upward then stops after just over a second. It feels panicked and silly rather than serious, turning a scare into a laugh. It comes from Rovio's 2012 physics puzzle game, a spin-off of Angry Birds where pigs build vehicles.