The only disk-based camcorder that has Firewire apparently are the
JVC Everio GZ MG255 , and the GZ MG155 ( camcorders in those series come with that Everio Dock which has iLink/Firewire. The other Everio cams do not have this docking station/firewire AFAIK).
Neither one is HD. No guarantee it'll work for your particular situation since that Everio Dock is kind of a workaround.
Other than that you are not going to find a lot of non-tape based camcorders that have Firewire. The point of having Firewire on a camcorder was to properly capture tapes.
Since you don't capture anything on disk-based camcorders there is no need (usually) for Firewire.