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Okay here is my take on it. Anyone feel free to disagree.
A submarine can be considered any craft designed to work underneath the water. This can include military boats, civil boats and small submersible craft.
A submersible is term usually used to describe very small submarines used for civil, experimental and exploration work.
Craft like Alvin and Deep Quest spring to mind.
An ROV (remotely operated vehicle) is essentialy a small unmanned drone submarine, remotely operated from a surface ship or submarine/submersible via an umbilical cord. They are used in instances where taking a manned submarine or submersible is impossible, impractical or too expensive.
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