Thanks Secretsea18 and Robographer!
Nudipixel was not able to ID it, but I took Secretsea18 advise and sent it off to Michael Miller at the Slug Site. Less than a few hours later I received a reply, via Michael Miller, from Terry Gosliner at the California Academy of Sciences. He wrote:
"...I am virtually certain that it is a sea cucumber. I have seen brownish ones like this. I think it is probably a juvenile of Thelynota or something like that."
Interestingly I had photographed some really pretty "adult" Thelenota on the same trip last year, although not at that particular divesite.
Although it would have been far more exciting to have photographed a previously unidentified seaslug, I am still very happy to have an answer to the identity of this weird little critter (meaning I can stop searching now). I am also truly impressed by the awesome resources and fast response and of the seaslug site!