That looks like clear silicone to me, brl1956. Silicone is a little easier to work with, has a little 'give' to it and remains flexible so is vibration resistant (and the clear means you can use it everywhere and not worry about it blending in), but I've found it doesn't last as long as a good caulk sealant. You definitely want to remove all silicone before you go back over that joint, no matter what you decide to use.
I'd be more interested in WHY that joint spread and the seal failed. Looks like something jammed or caught on that cover and moved it a little.
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