Hi Chris: Your points are well taken, the taxonomy of nudibranchs is difficult, made even more so by international differences between the US school led by Dr Terence Gosliner of the California Academy of Sciences, and the Australian tradition of the late Neville Coleman, carried on, I believe, by Dr Bill Rudman and by the Sea Slug Forum. For example, if one looks up this nudi, Glossodoris cincta, in the web, the photos that pop up are of fairly different nudis, many quite different, such as with black mantle edges, from the photos I find in the nudi books by Neville Coleman, or by Helmut Debelius, or by Gosliner.
I looked up the name of the posted G. cincta in the updated Nudibranchs Encyclopedia by Neville Coleman.
To settle the matter on a firm, reproducible basis, Dr. Terry Gosliner has embarked on a many years effort to classify all nudibranchs using DNA taxonomy. I do not know when the new taxonomy will be published, but so far, Dr Terry has reclassified a lot of nudibranchs, often making it difficult for us plebeians to identify the nudis we meet underwater. I will ask around, maybe write Dr Terry, to find out where matters stand. It will be nice to unify the Aussie, US and other nudi classifications into a single DNA based classification.