UNAUTH PENETRATION OF AIRSPACE. PROX OF OSUA IN ADIZ.

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I DEPARTED THE LCL ARPT IN A TWIN ENG TURBOPROP WITH THE INTENT OF FLYING OFFSHORE TO OBSERVE THE SEA CONDITIONS AND SCOUT POSSIBLE FISHING SITES. BECAUSE THE WX WAS GOOD VFR AND I WAS FAMILIAR WITH THE LCL MIL APCH FACILITY; I DID NOT CONTACT FLT SVC OR FILE A FLT PLAN. IN FACT I HAD FLOWN IN THE SAME AREA ON SEARCH AND RESCUE MISSIONS; BUT IT HAD BEEN SOME TIME AGO. THE FLT WENT AS PLANNED. I CONTACTED THE LCL APCH CTL WHO PROVIDED ME WITH A 'SQUAWK' AND A MISSION CTL FREQ FOR THE AREA OF INTENDED OP. ON MY RETURN; A FELLOW PLT ASKED IF I HAD FILED A DVFR FLT PLAN. I SAID NO AND THAT I WASN'T AWARE THAT I WAS REQUIRED TO DO SO SINCE I HAD NOT DEPARTED A LOCATION OUTSIDE OF UNITED STATES AIRSPACE AND ADDITIONALLY SINCE I HAD BEEN IN CONTACT WITH ATC. THE FIRST THING I DID WHEN I GOT HOME WAS TO CONSULT MY COPY OF THE FARS AND ALSO THE PERTINENT SECTIONS OF THE AIM. MY INTERP OF THIS MATERIAL WAS THAT THE PRUDENT THING TO DO WOULD BE TO FILE DVFR ANYTIME I PLANNED TO OPERATE OFFSHORE. FURTHER; I RESOLVED TO CONSULT FLT SVC; FARS; AIM; AND LCL SOURCES OF INFO (PLTS SMARTER THAN ME) ANY TIME I PLANNED A FLT THAT WASN'T SOMETHING I ORDINARILY DO.