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If you go to the Cruise Diva website and in the search box enter 'Permission Letter' you will see the form I use. It also includes permission for medical treatment in an emergency.
Adults who are not the parent or legal guardian of a minor traveling with them must present an original notarized letter signed by the child's parent(s), authorizing the adult to take the child on the specific cruise, supervise the child and allow emergency medical treatment to be administered. (Notorized means legally witnessed)