What is yaw pitch and roll for a submarine?

Yaw, Pitch and Roll on a submarine is no different than it is for an aircraft. The only difference is the medium in which both travel, i.e., water vs. air. But the principles of ascent and descent, and turning are the same.

Roll is a lot different of course, as submarines are very stable platforms when submerged. However, nature is a very powerful force. I remember one time in particular when we were submerged at 400', and taking 12 - 15 degree rolls due to a surface hurricane passing over us at the time. Submarines do not take rolls very well - or should I say, the crew doesn't. Submarines, though they do of course roll, aren't designed to take extreme rolls like ships or aircraft, so when they are subjected to forces that make the roll any significant degree, it's sorely felt by the crew.