When the iOS Golden Master (GM) release is sent to developers, Apple also opens up app submissions for the new OS. They also appear to segment out releases targeted for the new OS so that apps are available, though there is no solid evidence for this.
For example, iOS 8 was released on Sept 17th, 2014. On September 9, 2014, Apple opened submissions for apps targeting iOS 8:
Prepare your apps for the App Store by downloading the iOS 8 and Xcode
6 GM seeds now. With these latest seeds, Swift is now final and you
can submit your iOS apps written with Swift to the App Store. Learn
about iOS 8 for Developers.
As no answers are forthcoming, I'll report here my findings.
On 2015-09-16 , before iOS 9 GA, I removed the "Beta" profile from the iPad and rebooted. After reboot, software update
says:
iOS 9.0.
Software is up to date
The version of the software is 9.0 (13A4325c)
So it looks good. There's an oddity, though. When I've rebooted (and hard-restart too to be on the safe side), every time I unlock the iPad I still get a notification saying:
There's an update available. Update the iOS 9 beta version.
I hope that when 9.0 final comes up, the update check will pick it and I'll be back into mainline versions. I'll update here when things change.
Edit 2015-09-16 19:39 CEST: Apple has just released v9.0 final and going to software update in Settings I get prompted to upgrade, so it looks like I'll be able to get back to mainstream. The notification after login stills says the same. Will report later when I have the chance to upgrade.
Edit 2015-09-18: After installing the 9.0 update, and the subsequent reboot, the device says its updated to 9.0 and I no longer get the prompt to update -- so all seems to be fine!
Edit 2015-09-25: Just a final update to confirm that after a few days running, all seems to be fine. I've just got the prompt to update to 9.0.1, so I seem to be fully in "mainstream" now.
Best Answer
You can just do a normal software update from Settings > General > Software Update. The release version will overwrite the beta version. See Apple's Beta software FAQ's* (https://beta.apple.com/sp/betaprogram/faq):
Apple's technical note about iOS beta software* (https://support.apple.com/en-us/HT203282) documents the process for upgrading from the beta to final release of iOS:
*URLs left intentionally, do not edit to remove.