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Colochirus robustus
Yes, lots of new Divers mistaken them for Nudibranch due to its size and see the tentacles withdraw like Nudibranch.
This one is not a Nudibranch, but Sea Cucumber.
Lots of them all over Anilao, in the thousands :p
This is a challenging case for me. As for color I could say Aegires citrinus but it has spikes like Dendronotids. Perhaps you can find help by posting this spotting in the Sea Slug Forum:
http://www.seaslugforum.net/