Malcolm-Jamal Warner died at 54, with his official cause of death now being revealed. The actor was on a family vacation in Costa Rica when he died from an accidental drowning, the Judicial Investigation Agency (OIJ) confirmed to PEOPLE.

Warner is survived by his wife and daughter, the latter of whom was born in 2017. While notoriously private, he has, however, posted about both his other half and their child on social media.

A family member of Malcolm-Jamal Warner has a warning for vacationers after the untimely death by drowning of the beloved Cosby show star. Warner died at age 54 in Costa Rica, after he drowned while swimming off a Caribbean beach,