Help ID this Giant "Caterpillar"

Images: 

I am a novice, but can usually identify most things I photograph.  This giant caterpillar-looking animal was hanging on the seafloor next to the bottom of the reef in about 5 meters of water.  At first, I thought I was looking at an octopus tenticle, but when I got a closer look, it was more of a caterpillar or something...

What is it????

 

Thanks,

 

Mark

Can't tell you exactly but...

You did not state where you shot this picture but I am pretty sure it is some type of sea cucumber. Hopefully that will give you a start of where to look further

help ID giant caterpiller

Tigertail Sea Cucumber.

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