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  • law.cornell.edu/cfr/text/19/4.94 is relevant for vessels.
    – Jon Custer
    Commented Jan 8, 2019 at 17:25
  • @JonCuster that same part of the CFR is where the commercial passenger manifest requirement is regulated (at 19 CFR 4.64). The absence of such a requirement for noncommercial vessels in that part may be as close as we're going to get to an authoritative statement that it is not required. Would you like to write an answer?
    – phoog
    Commented Jan 8, 2019 at 17:46
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    @phoog - I guess I'd say I'd feel happier if somebody with actual experience departing US waters would chime in. There have to be some folks from Florida on this SE who go to the Bahamas...
    – Jon Custer
    Commented Jan 8, 2019 at 19:15
  • @JonCuster fair enough. I have a friend I can ask, but I won't see him until Monday at the earliest.
    – phoog
    Commented Jan 8, 2019 at 19:24