Difficult to say from that picture but i would say deffinatly not a nudibranch, some type of worm or possably a massive digitate hydroid. Is there any coral around him and if so does he seem to be irritating it?
I'm surprised I even got this picture. No coral that I know of just sponge.
I lifted the rock out of the water to get a pic but the thing just all mushed out, unlike a briste worm this guy acted more like a slug. doesn't seem to have legs, and yet fairly quick.
Basically harmless then in small nubers and sizes. I guess I will have to do a bit or research on them to see if I want to keep them.
That particular one is now hanging out with a hermit that came on a piece of rock in a makeshift QT 5 gal bucket LOL
It's amazing, the tub I was using for QT is now looking like it wants to be a sump/fuge. So would these guys be benificial or detrimental in a fuge/sump?