Sounds like it'd be a booster issue. there are a couple ways to test a booster in the car.
#1, Engine off, depress the pedal a few times until it becomes hard. Hold the pedal down, start the engine. Good operating booster will let your foot travel down slightly once the engine vacuum hits it.
#2, Let it run. Turn off the engine without messing with the brake pedal. Head back in 15 mins or so, if you have a good 2-3 pumps with vacuum assist, your booster is holding. If its rock solid, you got yourself a leaky booster. . . Or check valve
My dads 02 BMW actually was making a hissing sound depending on engine vacuum, louder at idle and decel, replaced the booster and no more.