I would book through Dolphin Discovery directly as noted above. You will have a smaller group than through the ship. You will also save a small amount of money. Cabs are plentiful on Cozumel, Chankanaab is a few minutes drive from any of the Piers, and there are many cabs for the return trip. This would be a pretty worry free thing to do on your own. I would definitely spring for the Royal Swim. This is the most contact with the animals. It is spendy but worth it. Unless you plan to do this frequently get the most for your money!
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Laurie
RCCL Nordic Empress 1993
RCCL Nordic Prince 1994
RCCL Explorer 2003, 2005
RCCL Navigator, 2004, 2007
RCCL Mariner 2006
RCCL Liberty 2008
RCCL Adventure 2009
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