A submersible vehicle is provided which is able to achieve six of freedom utilizing a combination of only two thrusters with no external control planes. Each of the two thrusters can include a plurality of ducts which can be selectively opened or closed, to varying degrees, to achieve six degrees of freedom for both control and propulsion.

A submersible vehicle is provided which is able to achieve six of freedom utilizing a combination of only two thrusters with no external control planes. Each of the two thrusters can include a plurality of ducts which can be selectively opened or closed, to varying degrees, to achieve six degrees of freedom for both control and propulsion.

Apparatus and associated methods relate to a chum torpedo designed for deep-water fishing. In an illustrative example, a chum torpedo includes a chum-containing device, a torpedo, and a system configured to attach to place a fishing line in a turbulent stream of the torpedo at a predetermined depth. The torpedo, for example, may be attached to a downrigger cable or a downrigger cable ball, and may enter a travel mode as it travels at a predetermined speed to agitate the torpedo. Various embodiments may advantageously include a fin systemincluding both forward and backward fins-to stabilize the torpedo and create currents for dispersing chum effectively.

Apparatus and associated methods relate to a chum torpedo designed for deep-water fishing. In an illustrative example, a chum torpedo includes a chum-containing device, a torpedo, and a system configured to attach to place a fishing line in a turbulent stream of the torpedo at a predetermined depth. The torpedo, for example, may be attached to a downrigger cable or a downrigger cable ball, and may enter a travel mode as it travels at a predetermined speed to agitate the torpedo. Various embodiments may advantageously include a fin systemincluding both forward and backward fins-to stabilize the torpedo and create currents for dispersing chum effectively.