Diplurula larvae to pluteus and then to brachiolaria and metamorphoses into the adult and settles out of the water column

Pogonophorans--bearded worms

Hemichordates--acorn worm
tornaria larvae---an equivalent of the diplurula larvae

Urochordates--sea squirts or tunicates

Cephalochordates--sea lancelets
pharyngeal gill slits
dorsal hollow nerve cord
notochord
post anal tail
pair somites
ventral vascular system