diff --git a/.github/workflows/publish-documentation.yml b/.github/workflows/publish-documentation.yml
new file mode 100644
index 0000000000..e9edee39f5
--- /dev/null
+++ b/.github/workflows/publish-documentation.yml
@@ -0,0 +1,111 @@
+# Simple workflow for deploying static content to GitHub Pages
+name: Deploy Latest Basilisk Documentation to Pages
+
+on:
+  # Runs on pushes targeting the default branch:
+  pull_request:
+    branches:
+      - 'ci/publish-docs-to-pages-on-pr'
+  push:
+    branches:
+      - 'develop'
+      - 'ci/publish-docs-to-pages-on-pr'
+    tags:
+      - v*
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
+# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
+concurrency:
+  group: "pages"
+  cancel-in-progress: false
+
+jobs:
+  # Single deploy job since we're just deploying
+  deploy:
+    name: Deploy Documentation
+    # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+    permissions:
+      contents: read
+      pages: write
+      id-token: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        python-version: ["3.9"]
+    steps:
+#      - name: Checkout
+#        uses: actions/checkout@v4
+      - name: Checkout code
+        uses: nschloe/action-checkout-with-lfs-cache@v1
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Cache conan packages
+        id: cache-conan
+        uses: actions/cache@v3
+        env:
+          cache-name: cache-conan-packages
+        with:
+          # conan cache files are stored in `~/.conan` on Linux/macOS
+          path: ~/.conan
+          key: ${{ runner.os }}-build-${{ env.cache-name }}-${{ hashFiles('conanfile.py') }}
+          restore-keys: |
+            ${{ runner.os }}-build-${{ env.cache-name }}-
+
+      - name: Cache pip modules
+        id: cache-pip
+        uses: actions/cache@v3
+        env:
+          cache-name: cache-pip-modules
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
+      - name: "Install swig and cmake"
+        run: sudo apt-get update && sudo apt-get install build-essential cmake gtk2.0 libgtk2.0-dev ninja-build swig -y
+
+      - name: "Install python packages"
+        run: sudo apt-get install python3-setuptools python3-tk
+
+      - name: "Install wheel and conan package"
+        run: pip3 install wheel conan==1.61.0 pytest datashader holoviews pytest-xdist
+
+      - name: "Build basilisk"
+        run: python3 conanfile.py --opNav False --vizInterface False
+
+      - name: "Run Python Tests"
+        run: cd src && pytest -n auto -m "not scenarioTest" --junitxml=../junit/test-results-${{ matrix.python-version }}.xml
+
+      - id: deployment
+        uses: sphinx-notes/pages@v3
+        with:
+          python_version: 3.9
+          checkout: false
+          documentation_path: ./docs/source
+          requirements_path: ./docs/source/bskPkgOptions.txt
+          sphinx_version: 4.5.0
+#          sphinx_build_options: -c docs/source/conf.py
+
+#      - name: Setup Pages
+#        uses: actions/configure-pages@v5
+
+#      - name: Upload artifact
+#        uses: actions/upload-pages-artifact@v3
+#        with:
+#          # Upload documentation HTML
+#          path: "docs/build/html"
+
+#      - name: Deploy to GitHub Pages
+#        id: deployment
+#        uses: actions/deploy-pages@v4
diff --git a/.github/workflows/pull-request.yml b/.github/workflows/pull-request.yml
index 2e08c569b7..6562fb7d24 100644
--- a/.github/workflows/pull-request.yml
+++ b/.github/workflows/pull-request.yml
@@ -1,153 +1,153 @@
 name: "Pull Request Test"
 
-on:
-  pull_request:
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build-linux:
-    name: Build Linux
-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        python-version: ["3.9"]
-    permissions:
-      actions: read
-      contents: read
-      security-events: write
-    steps:
-      - name: Checkout code
-        uses: nschloe/action-checkout-with-lfs-cache@v1
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v4
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Cache conan packages
-        id: cache-conan
-        uses: actions/cache@v3
-        env:
-          cache-name: cache-conan-packages
-        with:
-          # conan cache files are stored in `~/.conan` on Linux/macOS
-          path: ~/.conan
-          key: ${{ runner.os }}-build-${{ env.cache-name }}-${{ hashFiles('conanfile.py') }}
-          restore-keys: |
-            ${{ runner.os }}-build-${{ env.cache-name }}-
-      - name: Cache pip modules
-        id: cache-pip
-        uses: actions/cache@v3
-        env:
-          cache-name: cache-pip-modules
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-      - name: "Install swig and cmake"
-        run: sudo apt-get update && sudo apt-get install build-essential cmake gtk2.0 libgtk2.0-dev ninja-build swig -y
-      - name: "Install python packages"
-        run: sudo apt-get install python3-setuptools python3-tk
-      - name: "Create virtual Environment"
-        run: |
-          python${{ matrix.python-version }} -m venv .venv
-          source .venv/bin/activate
-          echo "VIRTUAL ENV:" $VIRTUAL_ENV
-      - name: "Install wheel and conan package"
-        run: source .venv/bin/activate && pip3 install wheel conan==1.61.0 pytest datashader holoviews pytest-xdist
-      - name: "Build basilisk"
-        run: source .venv/bin/activate && python3 conanfile.py --opNav True
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          cd src && pytest -n 2 -m "not scenarioTest" --junitxml=../junit/test-results-${{ matrix.python-version }}.xml
-      - name: "Upload pytest test results"
-        uses: actions/upload-artifact@v3
-        with:
-          name: pytest-results-${{ matrix.python-version }}
-          path: junit/test-results-${{ matrix.python-version }}.xml
-        # Use always() to always run this step to publish test results when there are test failures
-        if: ${{ always() }}
-      - name: "Run C/C++ Tests"
-        working-directory: ./dist3
-        run: ctest --gtest_output "json:../ctest/ctest-results-linux-${{ matrix.python-version }}.json"
-      - name: "Upload Google Test CTest results"
-        uses: actions/upload-artifact@v3
-        with:
-          name: ctest-results-${{ matrix.python-version }}
-          path: ctest/ctest-results-${{ matrix.python-version }}.json
-        if: ${{ always() }}
-
-  build-windows:
-    name: Build Windows
-    runs-on: windows-2019
-    strategy:
-      matrix:
-        python-version: ["3.9"]
-    permissions:
-      actions: read
-      contents: read
-      security-events: write
-    env:
-      MPLBACKEND: agg
-    steps:
-      - name: Checkout code
-        uses: nschloe/action-checkout-with-lfs-cache@v1
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v4
-        with:
-          python-version: ${{ matrix.python-version }}
-          cache: 'pip'
-          cache-dependency-path: '**/bskPkgRequired.txt'
-      - name: Choco help
-        uses: crazy-max/ghaction-chocolatey@v2
-        with:
-          args: -h
-      - name: "Install swig and cmake"
-        shell: pwsh
-        run: choco install swig cmake -y
-      - name: "Create python virtual env"
-        shell: pwsh
-        run: python -m venv venv
-      - name: "Install wheel and conan package"
-        shell: pwsh
-        run: |
-            venv\Scripts\activate
-            pip install wheel conan==1.61.0 parse six pytest-xdist
-      - name: "Add basilisk and cmake path to env path"
-        shell: pwsh
-        run: |
-          $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
-          $newpath = “$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk;C:\Program Files\CMake\bin”
-          Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH -Value $newPath
-      - name: "Build basilisk"
-        shell: pwsh
-        run: |
-          venv\Scripts\activate
-          python conanfile.py --opNav True
-      - name: "Test Simulation Python"
-        shell: pwsh
-        run: |
-          Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name MPLBACKEND -Value ${MPLBACKEND}
-          venv\Scripts\activate
-          cd src\simulation
-          (Get-ChildItem -Directory).FullName | ForEach-Object { cd $_; pytest -n 2 -m "not scenarioTest"; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}}
-      - name: "Python Architecture Tests"
-        shell: pwsh
-        run: |
-          venv\Scripts\activate
-          cd src\architecture
-          (Get-ChildItem -Directory).FullName | ForEach-Object { cd $_; pytest -n 2; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}}
-      - name: "Python FswAlgorithms Tests"
-        shell: pwsh
-        run: |
-          venv\Scripts\activate
-          cd src\fswAlgorithms
-          (Get-ChildItem -Directory).FullName | ForEach-Object { cd $_; pytest -n 2; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}}
-      - name: "C/C++ Tests"
-        shell: pwsh
-        run: |
-          cd dist3
-          ctest --gtest_output "json:../ctest/ctest-results-windows-${{ matrix.python-version }}.json"; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}
+#on:
+#  pull_request:
+#
+#concurrency:
+#  group: ${{ github.workflow }}-${{ github.ref }}
+#  cancel-in-progress: true
+#
+#jobs:
+#  build-linux:
+#    name: Build Linux
+#    runs-on: ubuntu-20.04
+#    strategy:
+#      matrix:
+#        python-version: ["3.9"]
+#    permissions:
+#      actions: read
+#      contents: read
+#      security-events: write
+#    steps:
+#      - name: Checkout code
+#        uses: nschloe/action-checkout-with-lfs-cache@v1
+#      - name: Set up Python ${{ matrix.python-version }}
+#        uses: actions/setup-python@v4
+#        with:
+#          python-version: ${{ matrix.python-version }}
+#      - name: Cache conan packages
+#        id: cache-conan
+#        uses: actions/cache@v3
+#        env:
+#          cache-name: cache-conan-packages
+#        with:
+#          # conan cache files are stored in `~/.conan` on Linux/macOS
+#          path: ~/.conan
+#          key: ${{ runner.os }}-build-${{ env.cache-name }}-${{ hashFiles('conanfile.py') }}
+#          restore-keys: |
+#            ${{ runner.os }}-build-${{ env.cache-name }}-
+#      - name: Cache pip modules
+#        id: cache-pip
+#        uses: actions/cache@v3
+#        env:
+#          cache-name: cache-pip-modules
+#        with:
+#          path: ~/.cache/pip
+#          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+#          restore-keys: |
+#            ${{ runner.os }}-pip-
+#      - name: "Install swig and cmake"
+#        run: sudo apt-get update && sudo apt-get install build-essential cmake gtk2.0 libgtk2.0-dev ninja-build swig -y
+#      - name: "Install python packages"
+#        run: sudo apt-get install python3-setuptools python3-tk
+#      - name: "Create virtual Environment"
+#        run: |
+#          python${{ matrix.python-version }} -m venv .venv
+#          source .venv/bin/activate
+#          echo "VIRTUAL ENV:" $VIRTUAL_ENV
+#      - name: "Install wheel and conan package"
+#        run: source .venv/bin/activate && pip3 install wheel conan==1.61.0 pytest datashader holoviews pytest-xdist
+#      - name: "Build basilisk"
+#        run: source .venv/bin/activate && python3 conanfile.py --opNav True
+#      - name: "Run Python Tests"
+#        run: |
+#          source .venv/bin/activate
+#          cd src && pytest -n 2 -m "not scenarioTest" --junitxml=../junit/test-results-${{ matrix.python-version }}.xml
+#      - name: "Upload pytest test results"
+#        uses: actions/upload-artifact@v3
+#        with:
+#          name: pytest-results-${{ matrix.python-version }}
+#          path: junit/test-results-${{ matrix.python-version }}.xml
+#        # Use always() to always run this step to publish test results when there are test failures
+#        if: ${{ always() }}
+#      - name: "Run C/C++ Tests"
+#        working-directory: ./dist3
+#        run: ctest --gtest_output "json:../ctest/ctest-results-linux-${{ matrix.python-version }}.json"
+#      - name: "Upload Google Test CTest results"
+#        uses: actions/upload-artifact@v3
+#        with:
+#          name: ctest-results-${{ matrix.python-version }}
+#          path: ctest/ctest-results-${{ matrix.python-version }}.json
+#        if: ${{ always() }}
+#
+#  build-windows:
+#    name: Build Windows
+#    runs-on: windows-2019
+#    strategy:
+#      matrix:
+#        python-version: ["3.9"]
+#    permissions:
+#      actions: read
+#      contents: read
+#      security-events: write
+#    env:
+#      MPLBACKEND: agg
+#    steps:
+#      - name: Checkout code
+#        uses: nschloe/action-checkout-with-lfs-cache@v1
+#      - name: Set up Python ${{ matrix.python-version }}
+#        uses: actions/setup-python@v4
+#        with:
+#          python-version: ${{ matrix.python-version }}
+#          cache: 'pip'
+#          cache-dependency-path: '**/bskPkgRequired.txt'
+#      - name: Choco help
+#        uses: crazy-max/ghaction-chocolatey@v2
+#        with:
+#          args: -h
+#      - name: "Install swig and cmake"
+#        shell: pwsh
+#        run: choco install swig cmake -y
+#      - name: "Create python virtual env"
+#        shell: pwsh
+#        run: python -m venv venv
+#      - name: "Install wheel and conan package"
+#        shell: pwsh
+#        run: |
+#            venv\Scripts\activate
+#            pip install wheel conan==1.61.0 parse six pytest-xdist
+#      - name: "Add basilisk and cmake path to env path"
+#        shell: pwsh
+#        run: |
+#          $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
+#          $newpath = “$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk;C:\Program Files\CMake\bin”
+#          Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH -Value $newPath
+#      - name: "Build basilisk"
+#        shell: pwsh
+#        run: |
+#          venv\Scripts\activate
+#          python conanfile.py --opNav True
+#      - name: "Test Simulation Python"
+#        shell: pwsh
+#        run: |
+#          Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name MPLBACKEND -Value ${MPLBACKEND}
+#          venv\Scripts\activate
+#          cd src\simulation
+#          (Get-ChildItem -Directory).FullName | ForEach-Object { cd $_; pytest -n 2 -m "not scenarioTest"; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}}
+#      - name: "Python Architecture Tests"
+#        shell: pwsh
+#        run: |
+#          venv\Scripts\activate
+#          cd src\architecture
+#          (Get-ChildItem -Directory).FullName | ForEach-Object { cd $_; pytest -n 2; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}}
+#      - name: "Python FswAlgorithms Tests"
+#        shell: pwsh
+#        run: |
+#          venv\Scripts\activate
+#          cd src\fswAlgorithms
+#          (Get-ChildItem -Directory).FullName | ForEach-Object { cd $_; pytest -n 2; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}}
+#      - name: "C/C++ Tests"
+#        shell: pwsh
+#        run: |
+#          cd dist3
+#          ctest --gtest_output "json:../ctest/ctest-results-windows-${{ matrix.python-version }}.json"; if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}
diff --git a/docs/source/bskPkgOptions.txt b/docs/source/bskPkgOptions.txt
index 2ce2792b63..3fda0958fe 100644
--- a/docs/source/bskPkgOptions.txt
+++ b/docs/source/bskPkgOptions.txt
@@ -1,8 +1,10 @@
-``sphinx<5.0``
-``breathe``
-``sphinx_rtd_theme==0.5.1``
-``recommonmark``
-``pytest-xdist``
-``pytest-html``
-``pytest-html``
-``docutils``
\ No newline at end of file
+sphinx<5.0
+breathe
+sphinx_rtd_theme==0.5.1
+recommonmark
+pytest-xdist
+pytest-html
+pytest-html
+docutils
+numpy
+matplotlib
\ No newline at end of file
diff --git a/docs/source/conf.py b/docs/source/conf.py
index ff0d7da97d..49c63d419d 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -95,11 +95,11 @@
 # further.  For a list of options available for each theme, see the
 # documentation.
 html_theme_options = {
-    'style_nav_header_background': '#CFB87C'
+    # 'style_nav_header_background': '#CFB87C'
 }
 
 html_context = {
-    'css_files': ['_static/css/custom.css']
+    # 'css_files': ['_static/css/custom.css']
 }
 
 html_logo = "./_images/static/Basilisk-Logo.png"
diff --git a/examples/scenarioFlybyPoint.py b/examples/scenarioFlybyPoint.py
index 591de07448..941bd50e58 100755
--- a/examples/scenarioFlybyPoint.py
+++ b/examples/scenarioFlybyPoint.py
@@ -189,12 +189,12 @@ def run(show_plots, zeroEarthGravity, dtFilterData):
     # se tup flybyPoint guidance module
     flybyGuid = flybyPoint.FlybyPoint()
     flybyGuid.ModelTag = "flybyPoint"
-    flybyGuid.dtFilterData = dtFilterData
-    flybyGuid.signOfOrbitNormalFrameVector = -1
+    flybyGuid.setTimeBetweenFilterData(dtFilterData)
+    flybyGuid.setSignOfOrbitNormalFrameVector(-1)
     scSim.AddModelToTask(simTaskName, flybyGuid)
 
     cameraAxis_B = np.array([0, 1, 0])
-    outOfPlaneAxis_B = np.array([flybyGuid.signOfOrbitNormalFrameVector, 0, 0])
+    outOfPlaneAxis_B = np.array([flybyGuid.getSignOfOrbitNormalFrameVector(), 0, 0])
     crossProductAxis_B = np.cross(cameraAxis_B, outOfPlaneAxis_B)
     R0R = np.array([-cameraAxis_B,
                     crossProductAxis_B,
@@ -302,7 +302,7 @@ def run(show_plots, zeroEarthGravity, dtFilterData):
         ur = dataPos[i] / np.linalg.norm(dataPos[i])
         uh = np.cross(dataPos[i], dataVel[i]) / np.linalg.norm(np.cross(dataPos[i], dataVel[i]))
         ut = np.cross(uh, ur)
-        if flybyGuid.signOfOrbitNormalFrameVector == -1:
+        if flybyGuid.getSignOfOrbitNormalFrameVector() == -1:
             uh = np.cross(ut, ur)
         BN = rbk.MRP2C(att[i])
         NB = BN.transpose()