Experiments and simulations are performed to study filamentation and generation of acoustic waves in water by loosely focused multi-millijoules laser pulses. When the laser pulse duration is increased from femtosecond to nanosecond duration, a transition is observed from a filamentary propagation with extended and low energy density deposition to a localized breakdown, related to high energy density deposition. The transition suggests that Kerr self-focusing plays a major role in the beam propagation dynamics. As a result, the shape, the amplitude and the spectrum of the resulting pressure wave present a strong dependence on the laser pulse duration.