diff --git a/.gitmodules b/.gitmodules
index 8a0464b1..2e3f6d36 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -142,3 +142,7 @@
 [submodule "fsw/fprime/fprime-nos3"]
 	path = fsw/fprime/fprime-nos3
 	url = https://github.com/nasa-itc/fprime-nos3.git
+[submodule "gsw/yamcs"]
+	path = gsw/yamcs
+	url = https://github.com/nasa-itc/yamcs-nos3.git
+	branch = main
diff --git a/cfg/nos3-mission.xml b/cfg/nos3-mission.xml
index 7e441e4c..547b6317 100644
--- a/cfg/nos3-mission.xml
+++ b/cfg/nos3-mission.xml
@@ -1,18 +1,18 @@
 <nos3-mission-cfg>
     <start-time>814048200.0</start-time>
-    <!-- Note fprime gsw and fsw only operational in sc-minimal-config.xml -->
-    
+    <!-- Note fprime only operational in sc-minimal-config.xml -->
+
     <!-- Ground Software -->
-    <!-- cosmos, openc3, or fprime -->
-    <gsw>cosmos</gsw>  
+    <!-- cosmos, openc3, fprime, or yamcs -->
+    <gsw>yamcs</gsw>
 
     <!-- Flight Software -->
     <!-- cfs or fprime -->
-    <fsw>cfs</fsw> 
+    <fsw>cfs</fsw>
 
     <!-- Number of spacecraft -->
     <number-spacecraft>1</number-spacecraft>
-    
+
     <!-- Spacecraft 1 Configuration -->
     <!-- sc-full-config.xml or sc-minimal-config.xml -->
     <sc-1-cfg>sc-full-config.xml</sc-1-cfg>
diff --git a/gsw/yamcs b/gsw/yamcs
new file mode 160000
index 00000000..36373169
--- /dev/null
+++ b/gsw/yamcs
@@ -0,0 +1 @@
+Subproject commit 36373169f97807851bdfba9469821a39d9be2459
diff --git a/scripts/cfg/configure.py b/scripts/cfg/configure.py
index 2918f93d..f79e5872 100644
--- a/scripts/cfg/configure.py
+++ b/scripts/cfg/configure.py
@@ -21,7 +21,6 @@
 fsw_cfg = mission_root.find(fsw_str).text
 print(' ', fsw_str, ':', fsw_cfg)
 fsw_identified = 0
-
 if (fsw_cfg == 'fprime'):
     fsw_identified = 1
     os.system('cp ./scripts/fsw/fsw_fprime_build.sh ./cfg/build/fsw_build.sh')
@@ -38,7 +37,6 @@
 gsw_str = 'gsw'
 gsw_cfg = mission_root.find(gsw_str).text
 print(' ', gsw_str, ':', gsw_cfg)
-
 gsw_identified = 0
 if (gsw_cfg == 'openc3'):
     # Copy openc3 scripts into ./cfg/build
@@ -60,6 +58,11 @@
     gsw_identified = 1
     os.system('cp ./scripts/gsw/gsw_ait_build.sh ./cfg/build/gsw_build.sh')
     os.system('cp ./scripts/gsw/gsw_ait_launch.sh ./cfg/build/gsw_launch.sh')
+if (gsw_cfg == 'yamcs'):
+    # Copy yamcs scripts into ./cfg/build
+    gsw_identified = 1
+    os.system('cp ./scripts/gsw/gsw_yamcs_build.sh ./cfg/build/gsw_build.sh')
+    os.system('cp ./scripts/gsw/gsw_yamcs_launch.sh ./cfg/build/gsw_launch.sh')
 if (gsw_identified == 0):
     print('Invalid GSW in configuration file!')
     print('Exiting due to error...')
diff --git a/scripts/cfg/uninstall.sh b/scripts/cfg/uninstall.sh
index 3d085178..310ebf92 100755
--- a/scripts/cfg/uninstall.sh
+++ b/scripts/cfg/uninstall.sh
@@ -4,7 +4,7 @@
 #
 
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
-source $SCRIPT_DIR/env.sh
+source $SCRIPT_DIR/../env.sh
 
 echo "Cleaning up all COSMOS files..."
 yes | rm $BASE_DIR/gsw/cosmos/Gemfile 2> /dev/null
@@ -18,12 +18,17 @@ yes | rm $BASE_DIR/minicom.cap 2> /dev/null
 echo "Cleaning up CryptoLib build..."
 yes | rm $BASE_DIR/minicom.cap 2> /dev/null
 
-$DCALL system prune -f 2> /dev/null
-
 echo "Cleaning up local user directory..."
-yes | rm -r $USER_NOS3_DIR 2> /dev/null
+$DFLAGS -v $USER_NOS3_DIR:$USER_NOS3_DIR $DBOX rm -rf $USER_NOS3_DIR
+rm -rf $USER_NOS3_DIR/*
+
+yes | rm -rf $USER_NOS3_DIR/.m2 2> /dev/null
+yes | rm -rf $USER_NOS3_DIR 2> /dev/null
+
+echo "Removing containers..."
+$DCALL system prune -f 2> /dev/null
 
-echo "Removing superfluous Docker networks and such..."
+echo "Removing container networks..."
 yes | docker network prune -f 2> /dev/null
 yes | docker swarm leave --force 2> /dev/null
 
diff --git a/scripts/debug.sh b/scripts/debug.sh
index 05f479db..877819a7 100755
--- a/scripts/debug.sh
+++ b/scripts/debug.sh
@@ -9,4 +9,4 @@ SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 source $SCRIPT_DIR/env.sh
 
 mkdir -p $BASE_DIR/fsw/build
-$DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR -v $USER_NOS3_DIR:$USER_NOS3_DIR -w $BASE_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice --name "nos3_debug" $DBOX bash
+$DFLAGS_CPUS -v $BASE_DIR:$BASE_DIR -v $USER_NOS3_DIR:$USER_NOS3_DIR -v $MVN_DIR:$MVN_DIR -p 8090:8090 -p 5012:5012 -w $BASE_DIR --sysctl fs.mqueue.msg_max=10000 --ulimit rtprio=99 --cap-add=sys_nice --name "nos3_debug" $DBOX bash
diff --git a/scripts/env.sh b/scripts/env.sh
index 546eaa34..b0f965df 100755
--- a/scripts/env.sh
+++ b/scripts/env.sh
@@ -20,6 +20,7 @@ NUM_CPUS="$( nproc )"
 
 USERDIR=$(cd ~/ && pwd)
 USER_NOS3_DIR=$(cd ~/ && pwd)/.nos3
+
 OPENC3_DIR=$USER_NOS3_DIR/cosmos
 OPENC3_PATH=$OPENC3_DIR/openc3.sh
 
diff --git a/scripts/gsw/gsw_yamcs_build.sh b/scripts/gsw/gsw_yamcs_build.sh
new file mode 100755
index 00000000..c49a7d88
--- /dev/null
+++ b/scripts/gsw/gsw_yamcs_build.sh
@@ -0,0 +1,13 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+#
+
+CFG_BUILD_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+SCRIPT_DIR=$CFG_BUILD_DIR/../../scripts
+source $SCRIPT_DIR/env.sh
+
+echo "YAMCS build..."
+rm -rf $USER_NOS3_DIR/yamcs 2> /dev/null
+cp -r $BASE_DIR/gsw/yamcs $USER_NOS3_DIR/
+echo ""
diff --git a/scripts/gsw/gsw_yamcs_launch.sh b/scripts/gsw/gsw_yamcs_launch.sh
new file mode 100755
index 00000000..477b69a6
--- /dev/null
+++ b/scripts/gsw/gsw_yamcs_launch.sh
@@ -0,0 +1,17 @@
+#!/bin/bash -i
+#
+# Convenience script for NOS3 development
+#
+
+CFG_BUILD_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+SCRIPT_DIR=$CFG_BUILD_DIR/../../scripts
+source $SCRIPT_DIR/env.sh
+
+echo "YAMCS Launch... "
+gnome-terminal --tab --title="YAMCS" -- $DFLAGS -v $BASE_DIR:$BASE_DIR -v $USER_NOS3_DIR:$USER_NOS3_DIR -p 8090:8090 -p 5012:5012 --name cosmos_openc3-operator_1 -h cosmos --network=nos3_core --network-alias=cosmos -w $USER_NOS3_DIR/yamcs $DBOX mvn -Dmaven.repo.local=$USER_NOS3_DIR/.m2/repository yamcs:run
+
+pidof firefox > /dev/null
+if [ $? -eq 1 ]
+then
+    sleep 20 && firefox localhost:8090 &
+fi
diff --git a/scripts/stop.sh b/scripts/stop.sh
index bcb11dcd..c4b2fbdd 100755
--- a/scripts/stop.sh
+++ b/scripts/stop.sh
@@ -16,6 +16,7 @@ rm -rf $BASE_DIR/fsw/build/exe/cpu1/scratch/*
 
 # Docker stop
 cd $SCRIPT_DIR; $DFLAG compose down > /dev/null 2>&1
+$DCALL ps --filter ancestor="$DBOX" -aq | xargs $DCALL stop > /dev/null 2>&1 &
 $DCALL ps --filter=name="sc_*" -aq | xargs $DCALL stop > /dev/null 2>&1 &
 $DCALL ps --filter=name="nos_*" -aq | xargs $DCALL stop > /dev/null 2>&1 &
 $DCALL ps --filter=name="ait*" -aq | xargs $DCALL stop > /dev/null 2>&1 &