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Berthella martensi
Also known as Marten's Berthella and Berthella Sea Slug, this pleurobranch has a dark-brown mantle and orange warts. Berthella martensi, however, also appears in other color variations. They feed on hydroids, coral, sponges and sea anemones, and grow to a length of about 10cm.
Found singly or in pairs in coral and rocky reefs, among sand and rubble areas, at depths of 2 to 30m.
I spotted this critter -- actually there were two of them -- at exactly 50 feet. The one I photographed was about 10cm long. The 3rd photo shows its underside.
Hi Blogie,
It's a Pleurobranch - looking at pictures it looks very variable. Got my ID from Coleman's Nudibranch Encyclopedia.