Stinging Slug Caterpillar from Zambia

Subject: caterpillar ID
Location: Zambia
February 10, 2015 1:02 pm
Please identify this caterpillar or it may be a slug caterpillar or some kind of saddleback.
Just after rainy season close to Zambezi river at a lodge near Livingstone, Victoria Falls.
Thank you
Signature: Marc

Dear Marc,
We agree that this is a Stinging Slug Caterpillar in the family Limacodidae, and we will attempt to make a species identification.

Dear Daniel,
Thank you for your prompt response. I really appreciate it. The little horns flare when the caterpillar is disturbed. It reminds me of the nudibrancs you see under the water if you scuba dive… brilliant.
Kind regards

And is not the common name of a nudibranc a Sea Slug?