baldurs gate was not real time. There was an arbitrary time limit after taking an action before you could take another action. That action could be cast a spell, attack with your dagger, drink a potion, use an item, etc. The movement of your character was not tied to this "turn" which gave a much greater appearance of real time vs turn based. Starcraft is real time. as fast as you can select a unit, hit a hotkey, and target an area things happen. after a unit uses an ability, that ability is locked out for a period of time in some cases, but you can use another if you prefer. You do not queue an action and the character sits around waiting for their "turn" like in baldurs gate.
The fact that movement IS real time in baldurs gate, can make it seem that the entire combat system is, which is most definitely not the case.
Another example of true real time would be first person shooters (probably my least favorite video games mind you). As soon as you press whatever key you have bound to "shoot" it fires. your movements and actions all take place as you press the buttons. there is no delay as you wait for your "turn".
The difference between continuous turns and regular turns, continuous turns will take place until you intervene to stop the process by pausing. "regular" turns will stop and wait for your prompt. The first time I recall ever seeing continuous turns, was final fantasy 6 (released as final fantasy 3 in the US) The game kept right on going unless you had selected the dummied down mode. Those of us old enough to remember Dragon warrior, will all remember the prompting "A red slime draws near, command?" and it waited for you to chose your action.
So a quick review:
Turn based: Dragon Warrior serries, Final fantasy 1, Final fantasy Tactics, Fire Emblem, Vandal Hearts, Dark Sun Wake of the Ravager, Master of Magic, Master of Orion
Continuous turn based: Final Fantasy 3(6 in japan), Baldurs gate(though the movement in this game was real time)
Real Time: Command and Conquer series, Star Craft, / War Craft, Homeworld / Homeworld 2.
One last note, continuous turn based games typically have the option to auto pause whenever one of your units no longer has an action queued. So while a continuous turn based game can become turn based, a turn based cannot become continuous turn based.
I hope this shed some light on a rather confusing topic.