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If it only does it once a few seconds after starting it probably is just the secondary exhaust flap cracking open when first starting the car and it is below freezing. Our 35i does this once a while too in the dead of winter when it gets iced up.
There's a metal flap that opens and closes the second exhaust pipe for initial start and high RPM. Ours stuck a few times last winter in the ice and snow and mat a snap noise when it opened (or closed not sure which position).
It may not be that, but thought it would be something you could check. Once it warmed up for a few days and the ice melted we had no problems.
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