AirPods low battery sound is startlingly loud

I listen to music in pretty quiet environments so I don't set my volume to high levels, but the AirPods low battery sound is so loud that it startles me every time I hear it. It's very unpleasant and ruins the experience. Also the pitch and staccato nature of the sound contributes to the problem. I wonder if there's any way of disabling the sound or making it quieter.