"The German 571st Infantry Regiment was understrength, with a total of 1,500 men"The issue is less related to D-Day sized invasions where we can assume that gaining the beachhead is almost guaranteed, but Dieppe sized raids in which the beach garrison itself is able to repel a much larger force without the need of mobile reserves. (Dieppe beach was successfully defended by 150 soldiers!)
We can assume that this in HoI3 terms will mean a infantry brigade at 50% strenght. There you have your beach defense.
Dieppe is also only a small town, a HoI3 province will cover some 30x30km at least. In Earlier threads people have proved that not even the largest cities require more than one province. So Its safe to assume that other parts of the German division that among its assignments had dieppe would have other regiments not further then 20km away or in the same province. Some might be on other beaches, or back on anti partisan duty in other small towns. One regiment might even have been reserves.
Id like to reinforce that beach defense is not about putting 150 men on the beach where they will attack, because you can never know where that is. Its about putting 150men on ALL beaches within a province where they can possibly attack. And to be safe some men on beaches you don't think they can attack too, and some men back incase they try to flank you with paratroopers and some men in reserve for counterattacks if they do manage to land.
To do all this in an area of at least 30x30km you WILL need a division.