"The FBI gave him a lie detector test and the waiter flunked the lie detector test," Lipcon said. "Then the waiter said, 'Oh, yeah, I did have sex with Taylor, but it was consensual.' Well, you can't have consensual sex with a 14-year-old. They're too young to consent and that's what led to the prosecution."
Lipcon and Taylor's family sued Carnival for sexual assault committed by a crew member. Krispiyanto later pleaded guilty to a lesser charge of sex abuse of a minor and is serving a 3-year prison sentence in Seminole County Jail in Orlando, Fla.
For Taylor, that wasn't good enough.
"No, because that's not what he did," she said. "He raped me. They arrested him and they put him in jail but he got 37 months. I have to deal with this for the rest of my life."
Lipcon said he hears from new victims of cruise ship crimes every day, with the greatest increase coming from passenger-on-passenger crime. Prosecutions for these crimes are incredibly rare, he added.
"[Taylor's case was] the first conviction I've seen in handling these cases for 35 years or so," he said. "One conviction in 35 years. What kind of deterrent is that?"
A Carnival cruise line representative released a statement to ABC News apologizing again to Taylor and her parents: "We go to tremendous lengths to ensure a secure and enjoyable vacation environment for the more than 4 million passengers who sail with us each year. ... We are truly sorry that this tragic crime occurred and again want to express our deepest apologies to the victim and her family."
The Cruise Line International Association (CLIA) also told ABC News in a statement that its members have a "zero tolerance" for crime.
"While serious crime on cruise ships is rare, one instance is one too many, which is why our industry adopted a zero-tolerance policy years ago," the statement said.
Said attorney Lipcon: "To me, they are not demonstrating a zero tolerance. Actually, I think they're going the other way ... demonstrating a great tolerance for crime."
Statistics for crimes at sea are difficult to find because, until last summer, no government agency had been responsible for tracking crime on cruise ships, and cruise lines were not required to report them.
Gaouette, the "Cruising for Trouble" author, said passengers need to be aware of that because ships are often registered in foreign countries, so they're not subject to the same laws as in the United States.
"Families and vacationers on cruise ships should be aware that when they're on a cruise ship, they are sailing on a foreign country and that they should assess their risks accordingly," he said.
Safety on cruises has become such a huge issue that Congress held hearings in 2006 and 2007 where they asked victims of alleged cruise ship crimes to testify. In July 2010, the Cruise Vessel Security and Safety Act was passed and signed into law.
The law now requires cruise ships to report all allegations of crimes to the U.S. Coast Guard and the FBI, maintain functioning electronic surveillance cameras and use rape kits to collect evidence in cases of sexual assault, among other provisions.
Chairman of the International Cruise Victims (ICV), Kendall Carver, said his organization strongly backed the cruise vessel law.