I made a couple tracks that are not looped from the DVDs. I was looking for them and didn't see any here so I made them myself. It's only about 45 seconds worth of music. Feel free to improve upon them.

http://www.megaupload.com/?d=VEHMCG39
Track 1 - Torchwood Theme (TV Version)
Track 2 - Captain Jack Harkness / Action Theme

Not a fan of Torchwood but it has nice music. Doctor Who is ace though.