This paper investigates the formation cooperation problem of networked autonomous underwater vehicles (AUVs). By considering the underwater communication environments, the impulsive communication scheme with logarithmic quantization is developed. Moreover, the effects of time-varying transmission delays in the communication channels are taken into account. By means of impulsive control theory, distributed controllers are designed and sufficient conditions are derived for ensuring the desired formation. The simulation results are provided to demonstrate the effectiveness of our theoretical results.