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The yellow thingy is a dorid nudibranch, possibly Anisodoris nobilis which can be found to depths of 750 feet and feeds largely on sponges. What was its approximate length? The deep water forms may reach about 8" in length. It doesn't look exactly like some of the ones I've seen in shallower water.
You're lucky you didn't get zapped by the electric ray if you were that close. When I was working with the Cousteau's on the Channel Islands documentary in 1985, one of the divers got zapped by one and was out of the water for a bit.
I've been able to get "up close and personal" with a related species, the bullseye electric ray, in the Gulf of California. Knowing the possibilities, I approached them very slowly and used smooth body and camera movements to avoid scaring it. I can't remember if Clay (the Cousteau diver) had tried to touch it when he got zapped.