Abstract:
Operating at constant depth, various embodiments are provided equipped with automatic depth-control mechanisms in dynamic devices such as lures and carriers that acquire and maintain a constant target depth when pulled through a medium such as water. The depth-control mechanism incorporates a mechanical pressure measurement of depth using a bladder with changing dimensionality and mechanical coupling to a variable angle dive plane. The measured pressure is compared with the target depth pressure causing the dive plane angle to adjust and converge to an adjustable target depth with forward motion due to retrieval or trolling. The dive plane extension is optionally a variable angle lip or bill protruding from the front of the lure or a pectoral fin-like configuration. Multi-purpose carriers are provided that can perform various underwater sensing and measuring tasks. Included are systems and methods for using a lure or platform equipped with a depth-controlling device.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    The present application is a continuation-in-part of co-pending U.S. application Ser. No. 15/090,623, filed Apr. 5, 2016. The disclosure of this application is incorporated by reference herein in its entirety. 
     
    
     TECHNICAL FIELD 
       [0002]    This invention generally relates to devices, systems, and methods that have functional requirements associated with achieving and maintaining a constant depth in water while being retrieved, towed, or more generally “pulled.” 
       BACKGROUND OF THE INVENTION 
       [0003]    A need has existed for an inexpensive constant depth mechanism that can be scaled up or down in size to provide accurate depth-control for incorporating into fishing lures as well as other uses such as scalable multi-purpose carriers for mounting and carrying sensing and measurement devices for underwater operations photography, pH measurements, radiation monitoring, sound monitoring, temperature mapping, pollution mapping, or sea floor mapping while being retrieved, towed, trolled, or otherwise pulled. 
         [0004]    With regard to fishing, in previous years the major fishing lures or plugs considered deep divers were oversized versions of the plugs that you would use in cast fishing. There was a slight problem with the concept. While a larger sized Hellbender, Bomber Waterdog, or MudBug (common brand names of diving lures) would reach deeper haunts when trolled, the same did not apply when casting the plugs. It was difficult to consistently get out the same amount of line on a cast and secondly it was problematic to maintain anywhere near the same speed of retrieval from cast to cast when compared to the consistent speeds one can achieve with trolling. The result of trying to accomplish this was that the best reels would prematurely wear out over time. 
         [0005]    In approximately the last 10 years there have been an ever-increasing number of true deep diving baits. These have been developed through the application of elongated lips on plastic molded lugs, which in some cases have also been modified by having a slight bend at the end of the lip. This bend enhances the dive of the plug in the water by giving it a steeper dive angle upon retrieve. To a certain degree this concept might work on any plug that dives on retrieve. Some have actually altered the dive angle by adding weight to the front of the plug, thus customizing it. This was a difficult to accomplish without changing the tracking of the plug on retrieve. Alternately, the dive angle was increased by adding an over-sized treble in the front hook position to shift the center of mass forward. Unfortunately because of the larger hook, the lure will be less weedless. 
         [0006]    Most deep diving plugs have a couple of things in common. The lip will be proportionally larger in ratio to the body size and the other feature is that many of these, when viewed from the front or back, will have a narrow body contour from side to side. The lip obviously aids in the dive, but its effect would be useless if the body wasn&#39;t able to cut through the water with less resistance. Another common characteristic of diving plugs is that plugs with wider wobbles on retrieve are less likely to go as deep on the same speed of retrieve as a comparable size plug which has a less pronounced wobble. 
         [0007]    The depth to which a lure is supposed to dive has always been a subject to more variables or factors than the retrieval speed and dive angle of the lip. There has been a primary additional factor attributable to the size of line used in the company test. In the real world you weren&#39;t going to cast a 20-foot rated plug on six-pound test very many times due to the stress on the small diameter line and even fewer if you were in any place where there was underwater structure. 
         [0008]    Regarding structure, many of the deep divers are going to be less prone to becoming entangled in underwater vegetation or structures. The reason for this is the same sharp diving angle is going to keep the hooks protected during retrieval by the body and the lip of the plug. If you simply release pressure upon feeling resistance, the plug will often float back off the hang-up. 
         [0009]    If you are going to fish deep diving cranks it was advisable to use nothing less than a 6½-foot rod. When using the larger and deepest diving plugs it was advisable to actually go to a 7- or even a 7½-foot rod. These longer rods provide a maximum distance cast, and also reduce much of the shock from the lure pressure during retrieval (which isn&#39;t a bad concept since the other option would increase fatigue to the fisherman). 
         [0010]    The gears have been reinforced on most quality reels so that you can get a good life expectancy even if you throw a lot of deep cranks. The higher ratio gear reels are preferable for the same reason to use a stiffer rod, to control slack and move the fish when needed. 
         [0011]    Some who would fish with deep cranks do not like the effort of “driving” or reeling a lure to maximum diving depth. Well it doesn&#39;t have to float to be a deep crankbait. In fact those with count-down potential are also excellent deep cranks. About 95 percent of fishermen do not work swimming type baits such as Rat-L-Traps by letting them sink to the deeper water. Plugs such as these are only as effective as the fishermen&#39;s knowledge of the depth to which they let it sink. If a fishermen want to use deep crank lures to establish a reproducible pattern they must “count it down.” While you have less control over the constant depth of a diver-type of crank you can much more easily control the depth on retrieve of a Trap or Hot Spot. 
         [0012]    A common concern for fishermen using a crankbait lure is that they are going to hang up on underwater debris or vegetation due to the inability to maintain depth. As a consequence of being unable to maintain depth, lures are going to hang up, so it has been wise to use sufficiently heavy line to feel comfortable that they can get the lures loose. Due to the hang-up potential, fishermen are advised to invest in buying a lure retriever. Most tackle shops have various versions or they can be built from a saltwater lead and a couple of dog collar drop-chains dangling from the lead. 
         [0013]    An alternate means for controlling constant bait depth is a downrigger. The downrigger is a winch-type mechanism that feeds cable off a rotating reel through a guide system along an extension arm. A weight is attached to the end of the cable and the line release is attached to the weight. The fishing line from an independent rod and reel is attached to the release mechanism on the downrigger cable. By lowering the weight (ball), you can drop the line down to the desired depth. A footage counter is connected to the reel unit to indicate the specific amount of cable that has been released. At the desired depth the reel is locked into place. 
         [0014]    Downrigger models range from portable clamp on styles, permanent mounts, some with electronic motor retrieval systems capable of lifting downrigger weights of up to 10 lbs 100 feet down by a simple push of a button. Other new features on downriggers are networked with electronics, a speed sensor can be attached to the cable indicating how fast the lure is moving at that depth. Bottom tracking sonar systems using a transducer on the transom sends a programmed signal to the downrigger that will raise and lower automatically the weight off the bottom, or jig the weight up and down giving action to the lure with an auto setting. Multiple downriggers can be operated off of the same sonar signal working simultaneously 
         [0015]    Lead Core (Weighted Trolling Line) came on to the fishing scene during the 1970&#39;s as weighted trolling line. This allowed Salmon, Lake Trout, Steelhead and Walleye anglers the ability to use certain types of lures to reach depths were the fish are present. Lead Core is constructed of two components, the inner wire made of soft pliable lead and the outer sheath of nylon braid which is color coated every ten yards for metering purposes, referred to as the term colors. Recently a new environmentally safe non lead line was introduced using a metal alloy wire in lieu of lead. Weighted trolling lines are available in  100 - 200  yard spools ranging from 12 lb to 45 lb. test ratings. 
         [0016]    The amount of weighted trolling line spooled on your reel is totally dependent on the species of fish you are targeting by the depth required. An example of this method can be observed on the Great Lakes where walleye anglers may use 30 yards of weighted line or three colors whereas a Salmon angler may spool the entire 200 yards or twenty colors. The approximate rule dependent on the pound-test is every two yards of weighted line will sink one foot. The only reel type to be used for weighted trolling line is a conventional level wind-trolling reel and the line capacity is based on the species (smaller for walleyes larger for salmon). In spooling the reel, a line backing should always be used as this helps to fill the reel to the proper line amount. The most popular line backing used today is the super braid which is tied to the weighted line using an Albright knot, after the weighted line is spooled, a monofilament/fluorocarbon leader is tied using a Uni-knot. (Note: When tying backing a leader to lead core, remove the inner wire) This entire line set-up is referred as “segmented” which when properly used places the weighted line and lure at the feeding depth of fish. Trolling weighted (lead core) line is a technical process requiring a high level of expertise and knowledge. If considering using this trolling technique, success would be best served if you research the fishery and species before purchasing the proper equipment. 
         [0017]    Wire line is another trolling line option especially if fishing requires lures to go very deep. Wire lines come in a variety of choices, solid and stranded. Solid wire known as Monel is a metal-nickel-copper alloy, which will go deeper than stranded line based on the ultra-thin line diameter and weight. Stranded offers many versions made of stainless steel or copper, in cable-laid wire, 49 strand, three and seven strand wire some of these come with vinyl coatings used mainly as leader material. 
         [0018]    Snap weights are an attached/removable weight system ideal in getting your bait down to suspended Walleyes, Salmon, Trout, Bass and Muskies when flat line trolling. The weight sizes are relatively heavy ½ to 8 oz. that snaps on to the fishing line by a spring tension clamp, the weight is secured on a metal ring below. Upon a fish strike the line is retrieved to the snap weight and unclipped from the line to fight the fish. With the various sizes of weights available, this method offers a range of different depth settings without having to re-rig the rod. Most anglers start by using the 50/50 system placing the snap weight halfway out on the line. Moving the snap weight closer to the lure increases the response to the movements of the boat and the rod while moving the weight farther away from the lure it becomes less responsive, but more influenced by the action of wind and waves. The farther back the snap weight is from the lure will reduce spooking the fish from biting. Snap weights can be used on braided line, low stretch monofilament/fluorocarbon and lead core line. 
         [0019]    The present state of the art regarding a device, for example a lure, that will seek to achieve a constant depth while traveling through a body of water includes, but is not limited to, fishermen attempting to retrieve a lure via previously mentioned traditional methods, and/or troll a fishing lure that will seek and ultimately maintain a constant depth in the water. The purpose of attempting to target or acquire a specific depth in water while fishing (without special materials such as weighted or color coded line or weight snaps) is a typical desire of most fishermen due to the stratified depth behavior of fish. 
         [0020]    Traditional crankbait lures are a type of fishing lure that, by virtue of an angled bill on the forward-most portion of the lure, succumb to a tendency to dive once pulled forward through the water either by retrieval from a stationary fisherman retrieving his cast or from a fisherman trolling the lure behind a fishing vessel. These lures are classified by depth which is a function of bill surface area, bill angle, rate of retrieval, weight of fishing line and angle of fishing line. These depth classifications apply to two main camps of fishing technique: Cast fishing (from shore, boat, dock, etc.) and trolling (from a boat in motion). For most cast fishing scenarios a crankbait lure assumes a general parabolic curve where the first portion of the retrieval is dedicated to the diving action of the lure. At some critical point (specific to each individual lure) the vertical forces of the fishing line overpower the diving forces of the bill and the lure begins its return to the surface. This method of retrieval requires much skill and technique on the fisherman and allows for a large margin of error when trying to target a specific depth. Conversely, in trolling there is well known and published data outlining specifics of the variables involved in accurately presenting your lure at its target or desired depth. These models, or dive curves, consider two major variables: trolling speed and amount of fishing line between the lure and the reel. As long as these two variables are known, the targeted trolling depth can be achieved with relative accuracy but the two variables must be held constant to achieve the desired depth. 
         [0021]    Present methods using current products for depth-specific-fishing, while in motion, and require considerable amounts of skills and special materials as related to the retrieval /trolling speed of the lure and scope of the fishing line. Scope of the fishing line refers to the length of fishing line from the fisherman to the device and makes maintaining a constant depth at various retrieving or trolling speeds problematic without a constant depth mechanism. 
         [0022]    A constant or automatic depth-control device is a device equipped with an automatic or constant depth-controlling mechanism. Many other applications other than fishing for constant depth devices are possible using special or general purpose carriers with constant depth mechanisms incorporated along with sensing and measurement devices for underwater operations including photography, pH measurements, radiation monitoring, sound monitoring, temperature mapping, pollution mapping, or sea floor mapping while being retrieved, towed, trolled, or otherwise pulled. 
         [0023]    Based on the aforementioned needs and problems, there is a necessity for automatic depth-control mechanisms, devices, systems, and methods capable of achieving and then maintaining a constant depth while traveling through the water at various speeds. All this without special materials and requiring minimal skill on the part of the users to achieve and maintain a constant depth while performing an underwater task such as fishing, photography, sampling, mapping or data collection. 
         [0024]    A dynamic dive plane, as applied to an automatic depth-control device (“dynamic lure”) includes various end effector shapes or dynamic extensions such as a lip, bill, or fin design revolutionizes the various constituents of typical crankbait lure fishing techniques by eliminating many of the aforementioned variables. 
         [0025]    In cast-fishing applications the dynamic lure will “seek” and “acquire” its target depth, but will maintain this target depth upon reaching it despite most techniques employed by the fisherman. In trolling applications, the two variables that define typical dive curves (speed and length of line) are eliminated by allowing the fisherman to travel at any reasonable trolling speed with any amount of line (above a certain critical length) and achieve the target depth. 
         [0026]    The exact mechanisms and some of the various embodiments outlining these and other depth-control accomplishments follow, but the general concept is that by allowing the dynamic dive plane; lip, bill, or fin of this lure to dynamically react to pressure changes in the water column or depth, the lure will improve the accuracy of achieving and maintaining target depth and increase the lure&#39;s presentation time at target depth or in an alternative broader sense, the time at target depth for a multi-purpose carrier to perform a variety of tasks including sensing (such as for pH levels and O 2 , or pollutant concentrations), photography, bottom depth mapping, fish attraction, and temperature mapping. 
       BRIEF DESCRIPTION OF THE INVENTION 
       [0027]    Some or all of the above insights, needs, problems, and limitations that are attributed to the invention are summarized as follows: 
         [0028]    The invention herein includes various embodiments, each incorporating or equipped with an automatic depth-control mechanism that acquires and maintains a constant depth when pulled through a medium such as water. 
         [0029]    The automatic depth-control mechanism includes: 
         [0000]    At least one bladder which may be reinforced or otherwise configured to vary size in preferably a single longitudinal direction due to water pressure and having a fixed termination at a proximal location attached to a body or housing, a variable termination of the bladder at a distal location attached to an inner lever arm in the at least one direction of the bladder size changes due to pressure, a dive plane member extending essentially orthogonal to the inner lever arm with a pivot point rotatively attached to the housing establishing a variable dive plane angle, and a set of at least one elongated depth-control member extending the dive plane member externally away from the housing for effecting depth-control. The automatic depth-control mechanism including the configuration of the bladder, inner lever arm pivoting around the pivot point establishing the dive plane member angle, and the at least one elongated depth-control member extending the dive plane member externally away from the housing interact to provide depth-control for an object wherein the preponderance of the mechanism is housed. 
         [0030]    Regarding the dynamic operation of the automatic depth-control mechanism assuming that there is a forward motion during retrieval or trolling: When the measured pressure as indicated and communicated by the bladder compression is less than the pressure associated with a desired (target) depth, the mechanical coupling from the bladder causes the dive plane angle to increase downward toward the bottom resulting in an increased depth. When the measured pressure is greater than the pressure associated with a desired depth, the mechanical coupling from the bladder causes the dive plane angle to increase upwardly toward the surface resulting in a decreased depth. 
         [0031]    Furthermore, the invention herein includes a variable target depth-control setting mechanism. 
         [0032]    Furthermore, the invention herein includes systems with a mechanized lure, platform, multitasking device, or carrier that includes a pulling source, a line for pulling, and a depth-controlling device. 
         [0033]    Furthermore, the invention herein includes methods for achieving and maintaining depth by using a depth-controlling device or carrier to perform various underwater tasks including sensing (such as for pH levels and O 2 , or pollutant concentrations), photography, bottom depth mapping, fish attraction, and temperature mapping. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0034]    The foregoing, and other aspects, and embodiments will be better understood from the following detailed description of the exemplary embodiments of the invention with reference to the drawings, in which: 
           [0035]      FIG. 1  is a top view of a fishing lure equipped with a depth-control mechanism controlling the angle of a lip-embodied dive plane with section A-A identified. 
           [0036]      FIG. 2  is a cross section A-A view of the fishing lure illustrated in  FIG. 1  showing the depth-control mechanism housed within the body of the lure. 
           [0037]      FIG. 3  is a top view of a fishing lure equipped with a depth-control mechanism controlling the angle of a set of pectoral fins embodied as a dive plane with section B-B identified. 
           [0038]      FIG. 4  is a cross section B-B view of the fishing lure illustrated in  FIG. 3  showing the depth-control mechanism housed within the body of the lure. 
           [0039]      FIG. 5  is a cross section B-B view of the fishing lure illustrated in  FIG. 2  showing the dynamic potential of the depth-control mechanism housed within the body of the lure. 
           [0040]      FIG. 6A  illustrates an exemplary assembly of a bladder-spring combination. 
           [0041]      FIG. 6B  illustrates an exemplary assembled bladder-spring combination actuator and inward pressure vectors causing deflection of the combination. 
           [0042]      FIG. 7A  illustrates an exemplary diaphragm actuator. 
           [0043]      FIG. 7B  illustrates an exemplary spherical bladder with tension spring actuator. 
           [0044]      FIG. 7C  illustrates an exemplary Bourdon tube system actuator. 
           [0045]      FIG. 7D  illustrates an exemplary plunger-piston actuator. 
           [0046]      FIG. 7E-7F  illustrate V-shaped bladder mechanisms with attached bladder actuators. 
           [0047]      FIG. 7G  illustrates V-shaped bladder mechanisms with unattached bladder with an attached compression spring actuators. 
           [0048]      FIG. 7H  illustrates a V-shaped bellows type actuator. 
           [0049]      FIG. 8A  and  FIG. 8B  illustrate perspective and a sectional views, respectively, of a depth-controlled carrier, platform, or multitasking embodiment. 
           [0050]      FIG. 9A  illustrates a variable depth-control setting mechanism. 
           [0051]      FIG. 9B-9C  illustrate top and side views respectively of a lure equipped with a variable depth-control adjustment setting mechanism. 
       
    
    
     DETAILED DESCRIPTION 
       [0052]    Example embodiments of the invention will now be described more fully hereinafter with reference to the accompanying and incorporated by reference (cross-referenced) drawings, in which embodiments of the invention are shown. This invention may, however, be embodied in many different step sequences, forms, structures, or materials and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. 
         [0053]    It should be noted that, as used in the specification and the appended claims, the singular forms “a” and “the” include plural referents, unless the context clearly dictates otherwise. Thus, for example, reference to “an array” or “the array” can include reference to one or more of such arrays. 
         [0054]    The present invention embodies a device comprising a dynamic dive plane and mechanical linkage to a compressible bladder or void located inside a housing or body of the device, wherein the device is submersible in salt or fresh water and seeks to achieve and then maintain a constant depth in the water as the device is retrieved or towed through the water. 
         [0055]    The depth-control mechanism incorporates a mechanical pressure measurement and control of the device&#39;s depth using a void, bladder, or optionally “reinforced bladder” with mechanical coupling or actuating functionality as the bladder or void changes shape due to the pressure. At least one aspect of the change of shape of the bladder or is mechanically coupled through one or more levers through a housing to a variable angle dive plane with external or end effectors. The external dive plane effectors are essentially one or more optional variable angle lips or bills protruding from the front of the device or lure. Alternatively, the dive plane end effectors are essentially a variable angle pectoral fin-like or flap type configuration protruding from the body or housing sides of the device or lure. 
         [0056]    With reference to  FIG. 1 , a top view of an exemplary lure  100  is shown with a housing or body  101 , a protruding lip or bill  102  establishing a dive plane, a dive plane mechanical linkage  108 , a triple port set  112 , a hook set  103 , and a hook set termination  110 . The port set  112  allows water to flow into the body  101  allowing pressure to be equalized between the outside and the inside of the body  101 . This allows a pressure sensor inside the body  101  to measure and mechanically adjust the angle of the dive plane accordingly. The body  101  is formed generally to be pulled through water with a motion that is smooth or hydro-dynamic to simulate a live bait or minnow in order to attract and catch fish. The hook set  103  is a mechanical means for hooking, catching, and securing fish that have bitten the lure  100 . 
         [0057]    With continued reference to  FIG. 1 , the lure  100  embodies a depth-control device having a partially internal and partially external depth-control mechanism with the dive plane angle controlled based on internally sensed pressure. The actuator or end effector of the dive plane as shown is the lip or bill  102 . 
         [0058]    With reference to  FIG. 2 , the exemplary lure  200  side view is shown as cross section A-A as indicated in  FIG. 1 . The cross sectioned body or housing  201  represents a half section of the overall outer body or housing  101  of the lure  100  exposing its internal configuration as well as a preponderance of its outer features hidden in  FIG. 1 . The outer A-A cross sectioned features of lure  200  include, a fishing line connector or eyelet  207 , a protruding lip or bill  202  establishing a dive plane, dive plane mechanical linkage and pivot point  208 , upper port set  212 , side port  214 , hook sets  203  and  209 , and hook set terminations  210  and  211 . The upper port set  212  and side ports  214  allow water to flow into the overall body  101  of  FIG. 1  until pressure is equalized and maintained from the outside to the inside of the overall body  101 . This allows a pressure sensor inside the overall body  101  to measure and mechanically adjust the angle of the dive plane. 
         [0059]    With continuing reference to  FIG. 2 , the internal configuration cross sectioned features of lure  200  dive plane mechanism include a compressible void or reinforced bladder  204  with a fixed proximal termination  206  and a variably displaced distal termination  205 , and a dive plane actuator pivot point  208  and a dive plane lip or bill  202 . 
         [0060]    With reference to  FIG. 3 , a top view of an exemplary lure  300  is shown with a housing or body  301 , pectoral fins  302  and  322  establishing a dive plane, a dive plane mechanical linkage  308 , a port  312 , a hook set  303 , and a hook set termination  310 . The port set  312  allows water to flow into the body  301  until pressure is equalized from the outside to the inside of the body  301 . This allows a pressure sensor inside the body  301  to measure and mechanically adjust the angle of the dive plane. The body  301  is formed generally to be pulled through water with a motion that is smooth or hydro-dynamic to simulate a live bait or minnow in order to attract and catch fish. The hook set  303  is a means for hooking, catching, and securing fish that have bitten the lure  300 . 
         [0061]    With continued reference to  FIG. 3 , the lure  300  embodies a depth-control device having a partially internal and partially external depth-control mechanism with the dive plane angle controlled based on internally sensed pressure. The actuator of the dive plane as shown as a set pectoral fin members  302  and  322 . 
         [0062]    With reference to  FIG. 4 , the exemplary lure  400  side view is shown as cross section A-A as indicated in  FIG. 3 . The cross sectioned body or housing  401  represents a half section of the overall outer body or housing  301  of the lure  300  exposing its internal configuration as well as a preponderance of its outer features hidden in  FIG. 3 . The outer B-B cross sectioned features of lure  400  include, a fishing line connector or eyelet  407 , a set of pectoral fin members  402  and  432  (not shown) establishing a dive plane, dive plane mechanical linkage and pivot point  408 , upper port set  412 , side port set  414 , hook sets  403  and  409 , and hook set terminations  410  and  411 . The upper port set  412  and side ports  414  allow water to flow into the overall body until pressure is equalized from the outside to the inside of the overall body. This equalized pressure allows a pressure sensor inside the overall body to measure and mechanically adjust the angle of the dive plane. 
         [0063]    With continuing reference to  FIG. 4 , the fishing line connector or eyelet  407  is mounted on body  401  from an upper or forehead position with angle +α  417  of approximately 45 degrees as shown at  421  relative to the zero degree plane  420  of the body  401 . The angular range of +α  417  may extend as high as 90 degrees in an exemplary embodiment of lure  400  depending on the overall shape and mass distribution of the body  401  to achieve optimal hydrodynamic performance. The fishing line connector or eyelet  407  may alternately be mounted on body  401  from a lower or throat position with angle −α  418  of approximately 45 degrees as shown at  422  relative to the zero-degree plane  420  of the body  401 . The angular range of −α  418  may extend negatively as much as −90 degrees in an exemplary embodiment of lure  400  depending on the overall shape and mass distribution of the body  401  to achieve optimal hydrodynamic performance. Optimal hydrodynamic performance is defined as the ability of the lure  400  (or others embodied herein) to seek and acquire a target depth with a minimal anomalies such as instability or delayed target depth acquisition at a wide range of pulling or forward velocities. 
         [0064]    With continuing reference to  FIG. 4 , the internal configuration cross sectioned features of lure  400  dive plane mechanism include a compressible void or reinforced bladder  404  with a fixed proximal termination  406  and a variably displaced and rotatively terminated distal termination  405 , a dive plane actuator pivot point  408  and an at least one dive plane extended member or exemplary pectoral fin  402 . 
         [0065]    With reference to  FIG. 5  the exemplary lure  500  is shown as a similar A-A cross-sectional view as  FIG. 2  with only the features identified as needed to describe the operation of lures equipped with a depth-control mechanism including members  504 ,  505 ,  506 ,  508 ,  515 , and elongated member  502 , and potential range for dive plane angle theta (θ)  517 . 
         [0066]    Regarding the exemplary embodiments illustrated in  FIGS. 1-5 ; several aspects of the present invention are in common as referenced in  FIG. 5 . One such commonality is the depth-control mechanism and how it works and functions as follows. 
         [0067]    With continuing reference to  FIG. 5  and to the more general considerations of all automatic depth-control mechanisms commonly used herein by all lures and depth-control devices alike herein, the following detailed functional description of the dynamics of automatic depth-control devices apply: At least one bladder  504  which may be reinforced or otherwise configured to vary in size in at least one direction based on water pressure having a fixed termination at a proximal location  506  attached to a body or housing, a variable termination of the bladder at a distal location  505  rotatively attached to an inner lever arm  515  pivoting at pivot point  508  due to the at least one direction of the bladder size change due to pressure, a dive plane member  514  extending essentially orthogonally from the inner lever arm at or near the pivot point  508  rotatively attached to the housing establishing a dive plane angle θ  517 , and a set of at least one elongated depth-control member  502  extending externally from the dive plane member  514  and away from the housing  501  for effecting depth-control. 
         [0068]    With reference to  FIG. 5 , the dive plane exterior shown as an exemplary lip or bill  502  is designed so that at the surface of the water, the attitude of the dive plane  502  is angled down at some angle θ  517 . The device  500  moves in a forward motion (direction to the left as shown in  FIG. 5 ) from a forward pulling motion by a line attached to line termination eyelet or lug or pick point  507  at a forward location on the body or housing  501 . In an alternative embodiment, the device  500  moves in a forward motion, (direction to the left as shown in  FIG. 5 ), from a forward pulling motion by a line attached at or near the center of the lip or bill  502  on the upper side as shown in  FIG. 5  at a lug, termination eyelet, or pick point  518 . The dive plane&#39;s angle of attack θ  517  in relation to the forward motion causes the device to descend in the water. As the device descends, the increasing depth of the device experiences an increase in ambient pressure which causes the compressible void or bladder  504  to compress. The compression of the internal compressible void or bladder  504  causes the inner lever arm  515  at termination point  505  of the dive plane mechanism to be pulled from its original position toward the compressing bladder since the opposing end of the void or bladder  504  is terminated and fixated at  506  on the body or housing  501 . This pulling motion from the bladder to the lever arm  515  causes the dive plane to rotate clockwise about a pivot point  508 , which decreases the dive plane&#39;s angle of attack. The decreased angle of attack, as related to the dive plane, lessens the dive force imparted on the device, thereby decreasing the tendency of the device or lure  500  to descend further in the water. Once the device or lure  500  has reached the target depth and the dive plane  502  is at an angle of attack that imparts no vertical dive forces, any rise of the device or lure  500  in the water causes the compressible void or bladder to expand which pushes the inner lever arm  515  forward imparting a counter-clockwise rotation. This forward or counter-clockwise motion of the lever arm causes the angle of attack of the dive plane to increase thus resulting in the dive force causing the device or lure  500  to dive deeper in the water to reacquire the target depth. If the device or lure  500  surpasses the target depth by going deeper than the target depth in the water, the compressible void or bladder  504  responds by pulling the inner lever arm  515  of the dive plane toward the void or bladder  504  imparting a clockwise rotation. This pulling or clockwise motion of the inner lever arm  515  continues to rotate the dive plane clockwise reducing θ  517  past the angle where there are no vertical dive forces imparted on the device and to an angle that causes the dive plane to exert an upward or corrective force on the device. This upward force compels the device to return to the previously surpassed target depth. 
         [0069]    With reference to  FIG. 6A , a compressible flexible bladder  601  is constructed using silicon or any flexible material capable of performing the pre-described purposes of dynamic response to changes in ambient pressure imparted by the corresponding changes in water depth. A reinforcement member  602  in the form of a spring or equivalent with regard to maintaining radial or cylindrical shape of the flexible bladder (resulting in a bellows-like behavior) when bonded to or molded together with the flexible bladder  601 . Two bladder attachment members  605  and  606  are bonded to or molded into the ends of the bladder  601  before, during, or after the reinforcement member  602  is bonded or molded to or into the flexible bladder  601 . 
         [0070]    With regard to  FIG. 6B , an exemplary reinforced bladder mechanism  610  is illustrated with downward directional pressure arrows  611  and upward directional pressure arrows  612  to demonstrate the added resistance to radial deflection due to the exemplary reinforcing member  602 . Horizontal pressure arrows  613  and  614  demonstrate the freedom for the reinforced bladder  610  to expand and contract horizontally while the radial dimension remains stable under pressure. The reinforced bladder  610  results in bladder size changes due to pressure directed to a single longitudinal direction. 
         [0071]    With continuing reference to  FIG. 6B  and to  FIG. 5 , the mechanism  610  provides dynamic pressure measuring and actuation capability when the termination ends  605  and  606  of the reinforced bladder  610  are attached as shown in  FIG. 5  wherein one end of the corresponding reinforced bladder  504  is attached to the body  501  at connection point  506  (corresponding to  606  in  FIG. 6B ) and the other end is rotatively attached to the inner lever arm  515  at connection point  505  (corresponding to  605  in  FIG. 6B ). 
         [0072]    With reference to  FIG. 7A , an exemplary diaphragm bladder mechanism  700  is shown wherein a compression of the bladder or diaphragm  701  is driven by increasing ambient pressures in the water column with the aft (right) portion  702  rigidly formed and mounted. The flexing of the bladder or diaphragm  701  is attached to connection member  703  that it pushes or pulls. The connection members  703  and  704  are attached shown in a  FIG. 5  scenario wherein one end of the corresponding reinforced bladder  704  would be attached to the body  501  at connection point  506  and the other end  703  would be attached to the inner lever arm  515  at connection point  505 . 
         [0073]    With reference to  FIG. 7B , an exemplary spherical bladder with tension spring mechanism  710  is shown wherein a compression of the spherical bladder or void  711  is driven by increasing ambient pressures in the water column wherein the spherical void of the bladder  711  is what prevents a tension spring  712  from pulling a “plunger”  713  into the retaining volume  714  occupied by the bladder  711 . As the lure or depth-control object descends, the bladder  711  compresses, and the plunger  713  is pulled into the retaining volume member  714  by the spring  712  which pivots the bill assembly inner arm  715  about the pivot point  717  by pulling on termination point  716  causing a clockwise rotation of the inner arm  715  with the fixed termination  718  terminated into a lure internal body termination point as in  506  of  FIG. 5 . The clockwise rotation of the inner arm  715  decreases the dive plane angle thus correcting for a depth below the target depth. 
         [0074]    With continued reference to  FIG. 7B , instead of a spring, another option is to embed a magnet in the retaining volume (opposite the plunger  713 ) and make the plunger  713  face be a magnet (with opposite pole facing the pole of the other embedded magnet). As the bladder collapses, the magnetic attraction of the two magnets draws the plunger  713  into the retaining volume  714  thus mimicking the spring  712  force and the overall action of the spring version above. 
         [0075]    With reference to  FIG. 7C , an exemplary Bourdon tube system  720  is shown wherein a hollow plastic polymer, copper, brass, or other-metal tube or coil  721  is closed at both ends and formed into a portion of a full coil. The coil  721  is attached to the lure body at the aft (fixed) termination end  722  and allowed to remain free to move at the forward (variable) end termination  723 . This forward-most (left-most) point of the coil  723  includes optionally an eyelet or other attachment method to link the tube to a dive plane/bill assembly similar to the current design shown in  FIG. 5 . As the air inside the coil or tube compresses, the forward-most (left-most) point  723  pulls aft (right) some distance corresponding to water depth. As the air inside the tube expands (ascending in the water column) the forward-most (left-most) point of the coil or tube  723  will move forward (left). 
         [0076]    With reference to  FIG. 7D , an exemplary plunger/piston system  730  wherein this system is includes a rigid cylinder  731  is sealed at the aft end cavity  735  and open towards the forward end cavity  736 . A plunger  732  is affixed to a shaft  733  and indexed inside the cylinder  731 . A rubber, plastic, or other suitable material  734  creates a water-tight tight seal between the water column cavity  736  and the inside of the cylinder  735 . The volume of the cylinder  735  is filled with air/gas and the plunger seal  734  prevents water from entering the volume of the cylinder  735 . The forward portion of the shaft  733  (outside the cylinder) is affixed to the inner lever pivot arm and the termination member  737  is affixed to the body similarly to the concept as shown in  FIG. 5 . 
         [0077]    With reference to  FIG. 7E , an exemplary v-shaped bladder mechanism  740  v-shaped apparatus  741  encasing a bladder  742  that is attached at  746  and  747  to the outer apparatus  741 . This apparatus could be hinged  743  as in  FIG. 7E  or leaf spring (or “living hinge”) style as in  FIG. 7F  and  FIG. 7G . The pick points would attach to the body at the rear pick point or termination member  744  and the forward pick point would attach to the inner lever pivot arm at termination member  745 . The bladder in  FIG. 7E  and  FIG. 7F  is physically attached to the spring/hinge apparatus thus drawing the apparatus  741  inward as the bladder  742  compresses. Conversely as the bladder  742  expands, the outer apparatus would be allowed to “opened” back up. In  FIG. 7G  the bladder is not connected to the outer apparatus and tension spring  749  draws the outer apparatus inward as the bladder  742  compresses. The leaf or living spring style in  FIG. 7G  naturally expands as the bladder expands. 
         [0078]    With reference to  FIG. 7H , a bellows mechanism  750  is shown wherein changes in ambient pressure cause the bellows mechanism  750  to compress or expand. The bladder section inside is a flexible membrane that responds to pressure changes  754 , while the rigid outer shell  751  encases the bladder adding durability and resistance to punctures. As the pressure increases the entire bellows collapses inward ( 752  moving towards  753 ) and the pick point attached to the body  753  as shown in  FIG. 5  remains stationary while the pick point attached to inner lever pivot arm  752  moves with the compressive behavior of the bellow system. 
         [0079]    Example bladder materials with various properties and/or benefits:
       1. Latex: Abrasive and tear resistant.   2. Nitrile: More tear resistant than latex.   3. Vulcanized Poly Vinyl Chloride (PVC): UV stable.   4. Vulcanized Thermoplastic Elastomer (TPE): UV stable.   5. Silicone(s), silicone compounds or two part silicones: Keeps a relatively constant durometer (hardness) and elasticity under large temperature changes, relatively tear resistant.       
 
         [0085]    With reference to  FIG. 8A , an automatic depth-controlled multi-tasking device, carrier, or platform  800  is illustrated in perspective view as an exemplary submarine form including a scalable base, carrier, or platform housing  801  and a scalable tower housing  811 . It is understood that many other hydrodynamic forms of carriers or platforms that efficiently move through water can be fitted with an automatic depth-control mechanism of this invention. A line attachment lug or eyelet  807  is used as a connection point for a pulling line (not shown) to provide forward motion through water or fluid. The port  812  is provided to allow water pressure into the cavity for the depth-control mechanism inside tower or appendage  811 . Depth-control members; wing, wings, flap, flaps, pectoral-like fins, or elevators  802  and  803  form the dive plane used by the carrier or platform  800  to control depth. As the dive plane angle is automatically adjusted or modulated by the depth-control mechanism (shown in  FIG. 8B ) and mechanically coupled to the right depth-control member  802  and the left depth-control member  803 . The payload chambers  809  and  810  in the base  801  shown in  FIG. 8A  are used to contain or mount various exemplary payloads such as sensing and measurement devices for underwater operations including photography, pH measurements, radiation monitoring, sound monitoring, temperature mapping, pollution mapping, or sea floor mapping while being retrieved, towed, trolled, or otherwise pulled. 
         [0086]    With reference to  FIG. 8B , an automatic depth-controlled multitasking device, carrier, or platform  900  is illustrated in perspective view as an exemplary submarine form including a scalable base, carrier, or platform housing  901  and a scalable tower housing  911 . It is understood that many other hydrodynamic forms of carriers or platforms that efficiently move through water can be fitted with an automatic depth-control mechanism of this invention. 
         [0087]    With continuing reference to  FIG. 8B , a line termination lug or eyelet  907  is used as a connection point for a pulling line (not shown) to provide forward motion through water or fluid. The port  912  is provided to allow water pressure into the cavity for the depth-control mechanism inside tower or appendage  911 . Depth-control members; flaps, pectoral-like fins, or elevators  902  and  903  (hidden) form a portion of the dive plane used by the carrier or platform  900  to control depth. As the dive plane angle is automatically adjusted or modulated by the depth-control mechanism and mechanically coupled to the right depth-control member  902  and the left depth-control member  903  (hidden). The exemplary payload chambers  909  and  910  in the base  901  are used to contain or mount various exemplary payloads such as at least one sensing and measurement device for underwater operations including temperature mapping, pollution mapping, and sea floor mapping while being retrieved, towed, trolled, or otherwise pulled. 
         [0088]    With continuing reference to  FIG. 8B , the volume of the compressible void or bladder  904  extends and contracts based on water pressure between fixed proximal point  906  and a variable distal point at an inner lever arm point  905 . The inner lever arm  915  rotates in relation to the pivot point  908  to dictate the dive plane angle as mechanically extended depth-control members  902  and  903  (hidden) and eventual target depth of the multitasking, carrier or platform device  900 . 
         [0089]    With continuing reference to  FIG. 8B , in exemplary embodiments, the carrier or platform device or multitasking device  900  may be used for sensing or measurement or as a fishing lure or attractant or for dispensing attractants while maintaining a constant depth and traveling horizontally through water regardless of retrieval or trolling speed. Other exemplary embodiments include those forms that have no tower or appendage  911  and wherein the automatic depth-control mechanism of integrated mechanical components  902 ,  904 ,  905 ,  906 , and  908  is located within the base  901 . The body of the multi-tasking device or carrier or platform  900  may be made from any material capable of forming and encasing the appropriate mechanisms required for the pre-described purposes or intended uses. 
         [0090]    With reference to  FIG. 9A , a variable target depth-control setting mechanism  1000  is shown including a bladder  1004  that links through member  1005  to a variable dive plane member (not shown) corresponding to  FIG. 5  bladder  504  rotatively terminated at  505  at inner lever arm  515 . This termination scenario of  FIG. 9A  is also corresponding to the rotatively terminated bladder shown in  FIG. 2  bladder  204  rotatively terminated at  205  at inner lever arm  215  and  FIG. 4  bladder  404  rotatively terminated at  405  at inner lever arm  415 . 
         [0091]    With continuing reference to  FIG. 9A , the termination bladder  1004  also links in opposition to  1005  through an extendable and retractable connection point  1006  to a depth setting member  1016 . The depth setting member  1016  is extendable and retractable based on a mechanical setting of a depth setting dial  1018 . The depth setting dial  1018  is rotated to a target depth setting position. The target depth setting dial  1018  position is held into a desired or selected rotational position using frictional force or using a set of detents that may produce a clicking action when adjusted or rotated. The target depth setting dial  1018  includes ribs or slots  1019  to aid in rotating the dial and to provide visual indication of the presence of the dial so that a user would readily recognize the location and operational aspects of the dial. The target depth setting dial  1018  includes a threaded interface to the extendable and retractable depth setting member  1016  which adjusts a basis position for the bladder  1004  at termination point  1006 . It is understood that the bladder  1004  can be of any exemplary form or embodiment as specified herein including exemplary bladder mechanisms  7 A- 7 H and others. 
         [0092]    An indication of the dial position is provided for the user to associate the position of the dial with the target depth as a setting. With reference to  FIG. 9A-9B , a variable depth lure  1010  is shown equipped with a control setting mechanism  1000 . The dial  1018  is exposed and accessible through a cutout or window  1024  in the body  1001 . The tail section  1021  of the body  1001  is adjacent to the dial  1018 . As the dial  1018  is rotated or adjusted for a target depth it extends or retracts the depth setting member  1016  which adjusts a basis position for the bladder  1004  at termination point  1006 . 
         [0093]    With reference to  FIG. 9A-9C , a variable depth lure  1020  is shown equipped with a control setting mechanism  1000 . The body of the lure  1001  is attached to tail section  1021  through a partial extension of the body  1001  at section  1023  adjacent to the cutout or window  1024 . 
         [0094]    A method of making an automatic depth-control device includes designing a body based on intended use including body size, body shape, fixed attachment locations, and any user mountable chambers for payloads. The intended use may be fishing or making underwater measurements or sensing for example. 
         [0095]    An automatic depth-control device includes any one of reinforced, diaphragm, spherical, Bourdon, plunger/piston, v-shaped, helical spring, living hinge, leaf spring or bellows bladder mechanism. 
         [0096]    To accomplish an intended use and satisfy a particular category of need, sizing an automatic depth-control mechanism is needed for mounting inside the depth-control device based on required depths, the mass and shape of the body, and the shape, size, and mass of the fixed attachments and any mounted payloads. Larger bodies require larger and more robust mechanisms. 
         [0097]    Assembling an exemplary automatic depth-control device includes assembling the automatic depth-control mechanism to the interior of the body, assembling a variable target depth-control setting mechanism to the interior of the body, assembling the partially assembled body sections to form a single enclosed body, assembling the fixed attachments to the exterior of the body comprising a line termination eyelet, and setting a target depth of the lure with a target depth adjustment dial (for devices with variable depth options). 
         [0098]    Example housing or body materials with various properties and/or benefits:
       1. ABS Plastics: Aesthetically pleasing sheen, highly resistant to impact, easily used in injection molding. Can be made UV stable.   2. Nylons: Readily machinable (even though this would most likely not be machined).   3. Acetel: Relatively UV resistant.   4. Acrylics: Rigid, but susceptible to shattering.   5. Polycarbonates: Durable, high impact resistance.   6. Polypropylenes: Inexpensive. High flexural strength.   7. “Glass Filled” Thermoplastics: Extremely rigid. There are many “glass filled” materials used to improve rigidity.   8. UV Curing Resins: Expensive, and not ideal for manufacturing, used mainly for prototyping.       
 
         [0107]    Many modifications and other embodiments of the invention will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the invention is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.