The secret is to try not to post the crappy pics.
For this cruise, a Panasonic Lumix FZ35. I just use the Intelligent Auto setting mostly and hold the camera as steady as possible. Also avoid taking pictures when there is a lot of movement on stage or that will just be a blur.
a note on the Z35 - it does seem to have pretty good image stabilization which does allow you to shoot handheld at slower speeds than humans normally can do.