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Urbanus sp.
Brown and dark brown markings As large as half a pinkie finger (a smaller one) (not accounting for wings)
Cabo San Lucas, Mexico Warm climates, dry deserts
Not afraid of humans, found on vacation
If there was no blue, thanit might be Urbanus dorantes, Dorantes Longtail. You would need more pictures to be sure.
http://en.wikipedia.org/wiki/Urbanus_dor...