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For personal watercraft submarines (those that don't really dive but can go underwater a small amount) it depends on the locality, similar to any State, City, or Town that may or may not require a license to operate certain vehicles.
For larger submersibles (1 and 2 man submarines), they need to be fully certified and they're large enough to require a ship/tender to be launched from, so rather than a license, there's usually a certification/qualification procedure that the pilot must go through.
For tourist submarines, licensing is the same as it is for any maritime vessel carrying passengers.
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