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Lycorea halia atergatis
Very similar striped caterpillar to butterfly monarch caterpillar but has some differences. This does not have the rear tentacles and yellow stripes are not defined. Which is why I have not their exact identification.
Costa Rica.
Nymphalidae, Danainae, Lycorea sp. and most probably the Tico species/subspecies Lycorea halia atergatis.
Here is the adult:
http://www.projectnoah.org/spottings/810...
Excellent spotting!!