Sarah:
I suspect you have one (or more) transects on which no sightings were made. When this is the case, there needs to be a record for the transect (so your friend effort is recorded) but the perpendicular distance is set to "NA" (it takes on no value).
Now you are requesting a given percentile of your data be filtered, but the error you are getting states there is a problem with performing the filtering in the presence of the NA values.
This bug was fixed with version 0.9.5 of the Distance R package back in August of 2015. If you update your version of the R package Distance, you should be back in business.