Manta point is almost in the middle of the south west coast of Nusa Penida island. If you go by land to Peguyangan waterfalls you will see a sign on the left to Manta Point. Close to a white temple you will be able to overlook the sea from the cliff and sea the manta rays from the top. There is no way to go down to the sea from there, so the only way to swim, snorkel or dive with a manta ray is to take a boat.
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