PORT CANAVERAL, Fla. – More than 24 hours after the Royal Caribbean's Majesty of the Seas cruise ship was grounded at Port Canaveral because of safety concerns the ship was cleared for departure.

The ship was grounded Monday after it failed to pass a U.S. Coast Guard safety inspection.

The Coast Guard said it noticed issues concerning "safety of life at sea," adding that there were problems with life jackets and four other areas. No other details were provided, however.

The cruise ship, which holds 2,744 passengers, was held at the port until the safety issues were addressed.

Another inspection on Tuesday cleared the ship to begin its voyage, officials said. It departed just after 5 p.m.

[PHOTOS: Cruise ship grounded at Port Canaveral]

Passengers had already boarded the 880-foot-long Majesty of the Seas when their Monday afternoon departure from Port Canaveral was delayed.

Royal Caribbean released a statement about the issue Tuesday morning.

"The U.S. Coast Guard conducted a routine inspection of Majesty of the Seas. They came across some technical issues, including some outdoor life jackets that were showing their age. We hope to have replacements join the ship (Wednesday), and we expect to address the other issues shortly. The ship stayed in port overnight until they arrive," the company said.

"They originally said there was technical difficulties, then it was the life jacket thing," said Jenna O'Sullivan, who is celebrating her one-year anniversary with her husband. "I'm just wondering what they could have done maybe to prevent this. It seems like not everybody is on the same page. Hopefully, we will (set sail) soon."

"We had a couple of drinks and watched karaoke and it was just a lot of people talking about it, like, 'What's going to happen?'" said O'Sullivan's husband, David. "I don't know what they could do, but it just seems like it's definitely inconvenient to our trip."

"We're very disappointed because we were looking forward to this little break we could get," said Joe Pulvino, of Indialantic, who was sailing with his wife. "That is unforgivable for Royal Caribbean to ever have something like that happen. What if we ever had to use (the life jackets)? They would have sunk."

Majesty of the Seas guest relations line

Pulvino said he and his wife got a full refund for their trip.

Majesty of the Seas was scheduled for a four-night sailing, with port calls to CocoCay and Nassau, Bahamas.

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