Edit: Eliminated RDF Crawler from the list as it is so old it supports the old version of RDF (it's RDF API appears to be from 2000) and so can't actually crawl any RDF properly.
It doesn't allow depth to be configured, but does allow you to set a limit on the total number of URLs retrieved (which it crawls breadth-first). The only predicate it follows is rdfs:seeAlso, but it being open source should be pretty easy to patch to follow other predicates. (It's just a single SPARQL query to pull out the links - just need to add a few UNIONs.)