Shrimp
It is absolutely nothing to worry about! South of about Pt.Conception, there exists some form of crustacean, a type of shrimp, I think, that make that noise. When you first hear it through the hull, it can be quite alarming. Those of us who came from Northern California would always be very concerned when first we heard the noise. But, it is normal, and has nothing to do with the boat you are on, but rather the water you are in.Eventually, you won't even notice it.