How do nudibranchs reproduce?

Nudibranchs are what are known as simultaneous hermaphrodites, which means that they possess both male and female sex organs.  However, unlike many other hermaphroditic animals, nudibranchs do not self fertilize.  Instead, they can mate with any other nudibranch of their species in order to reproduce.  The pair of mating nudibranchs usually fertilize each other’s eggs, which are then laid in coiled jelly-like masses to await hatching.  Most nudibranchs hatch as free-swimming larvae that have a rudimentary shell and only settle to the bottom when they are ready to mature.  There are a few nudibranchs that hatch ready to crawl on the ocean bottom.