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submarine control : W A S D, arrow keys or analog Stick
fire : Return, Space or joypad key 0
choose weapon system : E, left ALT or joypad key 1
switch Zodiacs : F, left CTRL or joypad key 2
Menu / Pause : ESC or joypad key 3

These are the default controls.
You can allways change these keys in the start splash screen.