diff --git a/.github/actions/cmake-config/action.yml b/.github/actions/cmake-config/action.yml
new file mode 100644
index 0000000000..2ddb93a653
--- /dev/null
+++ b/.github/actions/cmake-config/action.yml
@@ -0,0 +1,18 @@
+name: 'Configure CMake'
+description: 'Configure the CMake project'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+
+inputs:
+  build-type:
+    description: 'Set the CMake build type: Release (-O3); RelWithDebInfo (-O2 -g); Debug (-g)'
+    default: 'Release'
+  additional-flags:
+    description: 'Additional flags to pass directly to the CMake command'
+    default: ''
+
+runs:
+  using: 'composite'
+  steps:
+    - run: cmake .. -DCMAKE_BUILD_TYPE=${{ inputs.build-type }} ${{ inputs.additional-flags }} 
+      working-directory: "/openfast/build"
+      shell: bash
diff --git a/.github/actions/compile-and-test/Dockerfile b/.github/actions/compile-and-test/Dockerfile
deleted file mode 100644
index 8a6084bb6c..0000000000
--- a/.github/actions/compile-and-test/Dockerfile
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-# Copyright 2016 National Renewable Energy Laboratory
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
-FROM rafmudaf/openfast-ubuntu:dev
-
-# Move into the openfast directory
-WORKDIR /openfast
-
-COPY entrypoint.sh /entrypoint.sh
-
-ENTRYPOINT ["/entrypoint.sh"]
diff --git a/.github/actions/compile-and-test/action.yml b/.github/actions/compile-and-test/action.yml
deleted file mode 100644
index 572382f438..0000000000
--- a/.github/actions/compile-and-test/action.yml
+++ /dev/null
@@ -1,10 +0,0 @@
-name: 'Compile and test'
-description: 'Compile OpenFAST and run the tests'
-author: 'NREL'
-# inputs:
-#   build-type:
-#     description: 'Set the CMake build type: Release (-O3); RelWithDebInfo (-O2 -g); Debug (-g)'
-#     default: 'Release'
-runs:
-  using: 'docker'
-  image: 'Dockerfile'
diff --git a/.github/actions/compile-and-test/entrypoint.sh b/.github/actions/compile-and-test/entrypoint.sh
deleted file mode 100755
index 21be246f9b..0000000000
--- a/.github/actions/compile-and-test/entrypoint.sh
+++ /dev/null
@@ -1,69 +0,0 @@
-#!/bin/bash
-
-verbosecommand() { echo ">>> $1" && eval $1 && echo "<<<"; }
-
-# Configure Bash to exit if any command returns an error
-set -e
-
-verbosecommand "cd /openfast"
-
-repo="OpenFAST"
-echo "GITHUB_EVENT_NAME: ${GITHUB_EVENT_NAME}"
-if [[ "${GITHUB_EVENT_NAME}" != "pull_request" ]]; then
-    repo=${GITHUB_ACTOR}
-fi
-# Create a branch "CI" at the current commit from the GH Actor's fork.
-verbosecommand "git fetch https://github.com/${repo}/openfast ${GITHUB_REF}:CI"
-verbosecommand "git checkout CI"
-verbosecommand "git submodule update"
-
-# Display the current git info
-echo "*** git-status from openfast:"
-verbosecommand "git status"
-
-echo "*** git-log from openfast:"
-verbosecommand "git log -1"
-
-verbosecommand "cd /openfast/reg_tests/r-test"
-echo "*** git-status from r-test:"
-verbosecommand "git status"
-
-echo "*** git-log from r-test:"
-verbosecommand "git log -1"
-
-verbosecommand "cd /openfast"
-
-# Display the differences between this commit and `dev`
-echo "*** git-diff from ${GITHUB_REF} to dev:"
-verbosecommand "git diff dev --numstat"
-
-# Move into the "build" directory, remove the old reg tests, and compile
-verbosecommand "cd /openfast/build"
-verbosecommand "rm -rf reg_tests"
-verbosecommand "cmake .."
-verbosecommand "make -j4 install"
-
-# Run the tests
-
-# NWTC Library tests
-verbosecommand "ctest -VV -R nwtc_library_utest"
-
-# BeamDyn-specific tests
-verbosecommand "ctest -VV -j7 -R bd_"
-verbosecommand "ctest -VV -R beamdyn_utest"
-
-# OLAF free vortex wake tests
-ctest -VV -R fvw_utest
-
-# OpenFAST linearization tests
-# Dont run these in parallel, copying the case files can fail in a race condition
-# Exclude the Ideal_Beam test cases
-# - They fail consistently in the Docker container when run on GitHub,
-#   but pass everywhere else including running the same Docker image locally
-verbosecommand "ctest -VV -L linear -E Ideal"
-
-# Subset of OpenFAST regression tests; do not run
-## - 9, 16 because they're very sensitive
-## - 19, 20 because theyre too long
-## - 17, 22, 23 because we dont know why they fail :(
-verbosecommand "ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25,26,27,28,29"
diff --git a/.github/actions/compile/action.yml b/.github/actions/compile/action.yml
new file mode 100644
index 0000000000..243026586c
--- /dev/null
+++ b/.github/actions/compile/action.yml
@@ -0,0 +1,15 @@
+name: 'Compile OpenFAST'
+description: 'Compile part or all of OpenFAST'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+
+inputs:
+  build-target:
+    description: 'Which targets to compile'
+    default: 'install'
+
+runs:
+  using: 'composite'
+  steps:
+    - run: make -j4 ${{ inputs.build-target }}
+      working-directory: "/openfast/build"
+      shell: bash
diff --git a/.github/actions/git-update/action.yml b/.github/actions/git-update/action.yml
new file mode 100644
index 0000000000..c2f1484a62
--- /dev/null
+++ b/.github/actions/git-update/action.yml
@@ -0,0 +1,22 @@
+name: 'Update the existin OpenFAST project in the Docker image'
+description: 'Workaround to avoid recompiling every component since the Docker image has the latest "dev" branch precompiled.'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+
+inputs:
+  repository:
+    description: 'The GitHub repository that is taking action.'
+    required: true
+  ref:
+    description: 'The branch or tag ref that triggered the action.'
+    required: true
+
+runs:
+  using: 'composite'
+  steps:
+    - run: |
+        git config --global user.email "openfast@github_actions.ci"
+        git config --global user.name "OpenFAST Continuous Integration"
+        git pull --no-verify https://github.com/${{ inputs.repository }} ${{ inputs.ref }}
+        git submodule update
+      working-directory: "/openfast/"
+      shell: bash
diff --git a/.github/actions/tests-gluecode-openfast/action.yml b/.github/actions/tests-gluecode-openfast/action.yml
new file mode 100644
index 0000000000..5b83dc96c4
--- /dev/null
+++ b/.github/actions/tests-gluecode-openfast/action.yml
@@ -0,0 +1,21 @@
+name: 'OpenFAST glue code tests'
+description: 'Run tests focused on the OpenFAST glue code'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+runs:
+  using: 'composite'
+  steps: 
+    - run: |
+        ctest -VV -L linear -E Ideal
+        ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,17,18,21,22,23,24,25,26,27,28,29
+      working-directory: "/openfast/build"
+      shell: bash
+
+# OpenFAST linearization tests
+# Dont run these in parallel, copying the case files can fail in a race condition
+# Exclude the Ideal_Beam test cases
+# - They fail consistently in the Docker container when run on GitHub,
+#   but pass everywhere else including running the same Docker image locally
+
+# Subset of OpenFAST regression tests; do not run
+# - 9, 16 because they're very sensitive
+# - 19, 20 because they're too long
diff --git a/.github/actions/tests-module-aerodyn/action.yml b/.github/actions/tests-module-aerodyn/action.yml
new file mode 100644
index 0000000000..7b2e332f56
--- /dev/null
+++ b/.github/actions/tests-module-aerodyn/action.yml
@@ -0,0 +1,9 @@
+name: 'AeroDyn module tests'
+description: 'Run tests specific to the AeroDyn module'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+runs:
+  using: "composite"
+  steps: 
+    - run: ctest -VV -R fvw_utest
+      working-directory: "/openfast/build"
+      shell: bash
diff --git a/.github/actions/tests-module-beamdyn/action.yml b/.github/actions/tests-module-beamdyn/action.yml
new file mode 100644
index 0000000000..bc5d6165fa
--- /dev/null
+++ b/.github/actions/tests-module-beamdyn/action.yml
@@ -0,0 +1,11 @@
+name: 'BeamDyn module tests'
+description: 'Run tests specific to the BeamDyn module'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+runs:
+  using: "composite"
+  steps:  
+    - run: |
+        ctest -VV -j7 -R bd_
+        ctest -VV -R beamdyn_utest
+      working-directory: "/openfast/build"
+      shell: bash
diff --git a/.github/actions/tests-module-hydrodyn/action.yml b/.github/actions/tests-module-hydrodyn/action.yml
new file mode 100644
index 0000000000..5675671746
--- /dev/null
+++ b/.github/actions/tests-module-hydrodyn/action.yml
@@ -0,0 +1,9 @@
+name: 'HydroDyn module tests'
+description: 'Run tests specific to the HydroDyn module'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+runs:
+  using: "composite"
+  steps:  
+    - run: ctest -VV -j7 -hd_
+      working-directory: "/openfast/build"
+      shell: bash
diff --git a/.github/actions/tests-module-nwtclibrary/action.yml b/.github/actions/tests-module-nwtclibrary/action.yml
new file mode 100644
index 0000000000..e26b0d99dc
--- /dev/null
+++ b/.github/actions/tests-module-nwtclibrary/action.yml
@@ -0,0 +1,9 @@
+name: 'NWTC Library module tests'
+description: 'Run tests specific to the NWTC Library module'
+author: 'Rafael Mudafort https://github.com/rafmudaf'
+runs:
+  using: "composite"
+  steps: 
+    - run: ctest -VV -R nwtc_library_utest
+      working-directory: "/openfast/build"
+      shell: bash
diff --git a/.github/workflows/automated-dev-tests.yml b/.github/workflows/automated-dev-tests.yml
new file mode 100644
index 0000000000..0faf3c0e10
--- /dev/null
+++ b/.github/workflows/automated-dev-tests.yml
@@ -0,0 +1,79 @@
+  
+name: 'Development Pipeline'
+
+on:
+  push:
+
+  pull_request:
+    types: [opened, labeled] #, assigned]
+
+# runs-on: ${{ matrix.os }}
+# strategy:
+#   matrix:
+#     os: [macOS-10.14, ubuntu-18.04]
+
+jobs:
+  build-and-test:
+
+    # Do not run if:
+    # - Branch name contains "docs/"
+    if: "!contains(github.ref, 'docs/')"
+
+    runs-on: ubuntu-latest
+    container:
+      image: rafmudaf/openfast-ubuntu:dev
+    steps:
+      - name: Checkout
+        uses: actions/checkout@main
+        with:
+          submodules: recursive
+      - name: Git Update
+        uses: ./.github/actions/git-update
+        with:
+          repository: $GITHUB_REPOSITORY
+          ref: $GITHUB_REF
+
+      - name: Configure CMake
+        uses: ./.github/actions/cmake-config
+        with:
+          build-type: RelWithDebInfo
+          additional-flags: -DBUILD_TESTING=ON -DCTEST_PLOT_ERRORS=ON
+
+      - name: Compile Unit Tests
+        uses: ./.github/actions/compile
+        with:
+          build-target: 'unit_tests'
+      - name: Compile Drivers
+        uses: ./.github/actions/compile
+        with:
+          build-target: 'beamdyn_driver hydrodyn_driver'
+      - name: Compile OpenFAST
+        # if: contains(github.event.head_commit.message, 'Action - Test All') || contains(github.event.pull_request.labels.*.name, 'Action - Test All') 
+        uses: ./.github/actions/compile
+        with:
+          build-target: 'install'
+
+      - name: 'Run NWTC Library tests'
+        uses: ./.github/actions/tests-module-nwtclibrary
+      - name: 'Run AeroDyn tests'
+        uses: ./.github/actions/tests-module-aerodyn
+      - name: 'Run BeamDyn tests'
+        uses: ./.github/actions/tests-module-beamdyn
+      - name: 'Run OpenFAST tests'
+        # if: contains(github.event.head_commit.message, 'Action - Test All') || contains(github.event.pull_request.labels.*.name, 'Action - Test All') 
+        uses: ./.github/actions/tests-gluecode-openfast
+
+      - name: 'If failure, post test files'
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: |
+            build/reg_tests/modules
+            build/reg_tests/glue-codes/openfast
+            !build/reg_tests/glue-codes/openfast/5MW_Baseline
+            !build/reg_tests/glue-codes/openfast/AOC
+            !build/reg_tests/glue-codes/openfast/AWT27
+            !build/reg_tests/glue-codes/openfast/SWRT
+            !build/reg_tests/glue-codes/openfast/UAE_VI
+            !build/reg_tests/glue-codes/openfast/WP_Baseline
diff --git a/.github/workflows/continuous-integration-workflow.yml b/.github/workflows/continuous-integration-workflow.yml
deleted file mode 100644
index edd35ff242..0000000000
--- a/.github/workflows/continuous-integration-workflow.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-
-name: OpenFAST Build and Test
-
-on: [push, pull_request]
-
-# runs-on: ${{ matrix.os }}
-# strategy:
-#   matrix:
-#     os: [macOS-10.14, ubuntu-18.04]
-# runs-on: docker://rafmudaf/openfast-ubuntu:alpha
-
-jobs:
-    build-and-test:
-        runs-on: ubuntu-latest
-        name: OpenFAST tests on Ubuntu
-        steps:
-        - name: Checkout
-          uses: actions/checkout@main
-          with:
-            submodules: recursive
-        - name: Build and test step
-          uses: ./.github/actions/compile-and-test
diff --git a/reg_tests/CMakeLists.txt b/reg_tests/CMakeLists.txt
index 6272de3e4c..c8250272c8 100644
--- a/reg_tests/CMakeLists.txt
+++ b/reg_tests/CMakeLists.txt
@@ -76,3 +76,26 @@ endforeach()
 
 # add the tests
 include(${CMAKE_CURRENT_LIST_DIR}/CTestList.cmake)
+
+set(src "${CMAKE_CURRENT_LIST_DIR}/r-test/glue-codes/openfast/5MW_Baseline/ServoData")
+set(dest "${CTEST_BINARY_DIR}/glue-codes/openfast/5MW_Baseline/ServoData/")
+add_custom_command(
+  OUTPUT "${dest}/DISCON.dll"
+  DEPENDS DISCON
+  COMMAND "${CMAKE_COMMAND}" -E copy "${src}/DISCON/build/DISCON.dll" "${dest}"
+)
+add_custom_command(
+  OUTPUT "${dest}/DISCON_ITIBarge.dll"
+  DEPENDS DISCON_ITIBarge
+  COMMAND "${CMAKE_COMMAND}" -E copy "${src}/DISCON_ITI/build/DISCON_ITIBarge.dll" "${dest}"
+  )
+add_custom_command(
+  OUTPUT "${dest}/DISCON_OC3Hywind.dll"
+  DEPENDS DISCON_OC3Hywind
+  COMMAND "${CMAKE_COMMAND}" -E copy "${src}/DISCON_OC3/build/DISCON_OC3Hywind.dll" "${dest}"
+)
+
+add_custom_target(
+  regression_tests
+  DEPENDS openfast "${dest}/DISCON.dll" "${dest}/DISCON_ITIBarge.dll" "${dest}/DISCON_OC3Hywind.dll"
+)
diff --git a/share/docker/openfast_dev/Dockerfile b/share/docker/openfast_dev/Dockerfile
index eea9ec75da..5042c7bbbd 100644
--- a/share/docker/openfast_dev/Dockerfile
+++ b/share/docker/openfast_dev/Dockerfile
@@ -14,32 +14,16 @@
 # limitations under the License.
 #
 
-FROM rafmudaf/openfast-ubuntu:dev
+FROM rafmudaf/openfast-ubuntu:v2.3.0
 
 # Move into the openfast directory and update
 WORKDIR /openfast
-RUN git fetch
-RUN git pull
-RUN git submodule update
+RUN git fetch && \
+    git checkout -b dev origin/dev && \
+    git submodule update
 
 # Move into the "build" directory, remove the old reg tests, and compile
 WORKDIR /openfast/build
-RUN rm -rf reg_tests
-RUN cmake ..
-RUN make -j4 install
-
-# Run the tests
-
-# BeamDyn-specific tests
-RUN ctest -VV -j7 -R bd_
-RUN ctest -VV -R beamdyn_utest
-
-# OpenFAST linearization tests
-# Dont run these in parallel, copying the case files can fail in a race condition
-RUN ctest -VV -L linear
-
-# Subset of OpenFAST regression tests; do not run
-## - 9, 16 because they're very sensitive
-## - 19, 20 because theyre too long
-## - 17, 22, 23 becuase we dont know why they fail :(
-RUN ctest -VV -j8 -I 1,1,1,2,3,4,5,6,7,8,10,11,12,13,14,15,18,21,24,25,27,28,29
+RUN rm -rf reg_tests && \
+    cmake .. && \
+    make -j4 install
diff --git a/share/docker/openfast_ubuntu/Dockerfile b/share/docker/openfast_ubuntu/Dockerfile
index 447b38bbfe..8470e56230 100644
--- a/share/docker/openfast_ubuntu/Dockerfile
+++ b/share/docker/openfast_ubuntu/Dockerfile
@@ -22,14 +22,18 @@ FROM ubuntu:bionic
 # RUN add-apt-repository ppa:ubuntu-toolchain-r/test -y
 # apt-get install gfortran-8
 
-RUN apt update -qq
-RUN apt install -y software-properties-common build-essential
-RUN apt install -y python3-pip
-RUN apt install -y cmake cmake-curses-gui
-RUN apt install -y gcc gfortran make
-RUN apt install -y libblas-dev liblapack-dev
-RUN apt install -y git
-RUN apt install -y nano
+ENV DEBIAN_FRONTEND=noninteractive TZ=America/Denver
+
+RUN apt update -qq && \
+    apt install -y software-properties-common build-essential && \
+    add-apt-repository ppa:git-core/ppa -y && \
+    apt install -y python3-pip && \
+    apt install -y cmake cmake-curses-gui && \
+    apt install -y gcc gfortran make && \
+    apt install -y libblas-dev liblapack-dev && \
+    apt install -y git && \
+    apt install -y nano
+
 RUN pip3 install numpy
 
 # Configure the environment
@@ -38,7 +42,6 @@ ENV FC=/usr/bin/gfortran
 # Clone the project
 RUN git clone --recursive https://github.com/openfast/openfast.git openfast
 WORKDIR /openfast
-RUN git checkout -b dev origin/dev
 
 # Build the project
 RUN mkdir build
@@ -47,5 +50,5 @@ WORKDIR /openfast/build
 # NOTE: building with optimizations on (RELEASE or RELWITHDEBINFO), the virtual machine
 # will require about 6GB of memoery. Otherwise, the gfortran compiler will exit with an
 # "internal error"
-RUN cmake .. -DBUILD_TESTING=ON -DDOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=DEBUG
+RUN cmake .. -DBUILD_TESTING=ON -DDOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=RELWITHDEBINFO
 RUN make -j4 install
diff --git a/unit_tests/CMakeLists.txt b/unit_tests/CMakeLists.txt
index 4caee9fa32..6303fc19c4 100644
--- a/unit_tests/CMakeLists.txt
+++ b/unit_tests/CMakeLists.txt
@@ -72,3 +72,8 @@ endif()
 add_subdirectory("beamdyn")
 add_subdirectory("nwtc-library")
 add_subdirectory("aerodyn")
+
+add_custom_target(
+  unit_tests
+  DEPENDS beamdyn_utest nwtc_library_utest fvw_utest
+)
\ No newline at end of file