I think this thread shows all dives are planned; the questions are how much they're planned, and how much they should be for particular types of dive.
In Bonaire, I dive much as some of you described; walk in, drop to maybe 40 feet, head northward (if no current) parallel to shore, hit a turn PSI (maybe 1600 - 1800), head up to 20-30 feet, & head back. If I see something neat, like a huge spiny lobster, deeper, I zoom down & get some photos. If I run low on air a bit early, I can get shallower heading back, or go up top near shore & surface swim.
I don't need to tightly structure a dive like that, especially since I've done a lot of them. I'm on nitrox & never get anywhere near an NDL, have no deco obligation and can (slowly) ascend whenever I wish in most cases.
Even on charter boat trips in the Caribbean, where I & the group follow a dive guide, I am responsible to monitor my depth & gas supply & communicate the latter to the guide intermittently, and keep an eye out for my buddy. The dive briefing tends to give a rough idea of depth and time for the dive. Conditions are high viz., low current warm water.
Now, I was born in Pensacola, Fl. Let's say I decide to dive the Oriskany someday. That's another story. I'm a big guy, fair on air consumption but not real good, have AOW & Deep cert.s and have been deep, but I could be looking at a dive to 120 - 130 feet, where gas consumption will be rapid & NDL time short, far from the surface.
Time to break out the training I got in the SDI Solo Diver course; estimating my gas consumption, the times for different stages of the dive, about how much air (or nitrox) I should need, and figuring on a healthy reservoir. Now, since I've got a nitrox. cert., time to see if I can rent a big tank (say, 120 or 130 steel) with a custom nitrox mix (EAN 128, perhaps?) that'll let me get that deep, but stay down longer than air. And the 'turn point' of the dive is more important because I can't just ascend 30 feet to the surface within a minute! And on a dive like this, rather than 'wander around ogling whatever part of the reef time allows,' I may have a premeditated plan to swim around looking at a specified part of the ship.
Similarly, a plan to dive a North Carolina wreck to see numbers of sand tiger sharks at around 120 feet would differ from diving 'The Cliff' at Bonaire.
I can only imagine what planning a deep tech. dive with multiple gasses & stage bottles & staged decompression with redundancy and adequate gas supplies for self & buddy entails.
Richard.