M.Dv. Nr. 906 (U.Kdt. Hdb.) lists some different sonar impulses as observed by U-Boat crews;
- constant chirping sounds
- sounds likened to ticking of a clock
- sounds likened to short metallic hits against the hull
- swelling and ebb away tone
Here an example for the chirping sound:
http://www.hnsa.org/sound/soundinthesea/track32.mov