After spending hours researching it, I am "pretty sure" it is a type of tunicate. Feels like a softie coral. I actually never found one that looks exactly the same, but I did find one that came very close. Right now it is in the receding stage however it will go away, and come back. It's never seems to really harm anything, and it stays to that one rock so I leave it alone. At full bloom it is pretty cool.
You can come by any time bro. Just give me a shout when your going to be over this way. I know that 2 1/2 miles is so far.HA