That's normal...sort of
When you let the tank run dry enough that the pump starts sucking air, the plumbing also fills with air. It takes a while for the pump to reprime. I see your boat is an '84. The older the pump and the more worn the diaphragm, the longer it will take. If it's not repriming in under two minutes, it's sign that the pump is beginning to fail. If it's started cycling briefly for no reason, the diaphragm is definitely failing and should be replaced before it quits pumping water altogether--which ALWAYS happens at the least convenient time. Even when the pump is new, it's best not drain your water tank completely if you can avoid it. Repriming is hard work for the pump. Diaphragms CAN run dry without harm, but there's a limit to how much anything can take over time.