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From what I recall, they're about the size of a fist (possibly two). If they don't get mangled in the net, they look just about like what you see in the video (maybe a little chubbier), since there's no gaseous space in them to expand or get distorted as they're pulled up. I didn't watch the whole video, so I don't know if it mentions this, but sea pigs are Holothurians (cucumbers). What they're doing with the sediment is the same thing that the orange embedded Cucumaria cucumbers do in California: grab stuff with tentacles and shove it in their mouth. The ones we got were a little more bulbous than in the video. It's worth noting that this was in the Southern Ocean, so almost literally a world away from where these guys were filmed. Interesting to imagine that the abyssal plains may be somewhat homogenous. For reference, I think (not certain) those two green laser dots are 10cm apart in the video.