This appears to be a proprietary cable; not an industry standard, so you'd have to find the factory cable OR a schematic and interpret the pin-out to make a custom cable.
Are you trying to feed this into a MiniDV recorder to record a live signal from the camera or transfer the tape contents?
Do you know if the signal is component or composite video out? Depending on the model and year of production, most AV out cables were designed to output to older CRT monitors that required a composite signal, but again, that depends.
Evilbay might be the best bet if you can find a junker camcorder with all the accessories.