This contribution will convey 25 years of knowledge and experience build on operational underwater manned submersible and robot vehicles programs. It will highlight the evolution from manned and remotely-operated robots to autonomous systems, and fleets scenario aimed to address shallow to ultra-deep water stakes and applications, mainly encouraged by the optimization of systems effectiveness, cost at sea for routine operations and technological innovations. The presentation will emphasis underwater intervention and survey for new fields of application as mineral resources, deep oceans, marine energy ..., illustrated by their TRL and OPEX, and getting few examples of near future trends already handled through close cooperation between IFREMER, key international laboratories, DCNS and other industrial partners.