A sonic boom is made by the sudden release of pressure that
is built up by the shock wave. The change in pressure is
small—similar to the pressure change you feel when you
descend a few floors in an elevator. But because the change
happens very, very quickly, you hear a loud boom. Not all
sonic booms reach the ground, but those that do arrive less
than one minute after flyover and generally last less than
one second.
As shock waves spread across the landscape, sonic booms are
continuously created along the flight path. If you continued
to move with the plane at the same supersonic speed, you'd
hear continuous booms. Otherwise, you hear the boom created
when the plane is overhead.