The orange-lined crowned nudibranch is similar to its relative the crowned nudibranch (Polycera capensis), but lacks the black lines that characterise this species. Instead it has orange lines along its body, and mostly white gills (the exposed fluffy bits half way down its back). There is a yellow line down the tail, clearly visible in the photograph above.
This nudibranch doesn’t have its own scientific name yet, as it’s not yet certain whether it merits one, or whether it’s a pale variant of another species. It is believed to eat bryzoans. There is some more information here, here and here on the SURG website, and in Nudibranchs of the Cape Peninsula and False Bay by Guido Zsilavecz.