  We present an efficient discontinuous Galerkin scheme for simulation of the
incompressible Navier-Stokes equations including laminar and turbulent flow. We
consider a semi-explicit high-order velocity-correction method for time
integration as well as nodal equal-order discretizations for velocity and
pressure. The non-linear convective term is treated explicitly while a linear
system is solved for the pressure Poisson equation and the viscous term. The
key feature of our solver is a consistent penalty term reducing the local
divergence error in order to overcome recently reported instabilities in
spatially under-resolved high-Reynolds-number flows as well as small time
steps. This penalty method is similar to the grad-div stabilization widely used
in continuous finite elements. We further review and compare our method to
several other techniques recently proposed in literature to stabilize the
method for such flow configurations. The solver is specifically designed for
large-scale computations through matrix-free linear solvers including efficient
preconditioning strategies and tensor-product elements, which have allowed us
to scale this code up to 34.4 billion degrees of freedom and 147,456 CPU cores.
We validate our code and demonstrate optimal convergence rates with laminar
flows present in a vortex problem and flow past a cylinder and show
applicability of our solver to direct numerical simulation as well as implicit
large-eddy simulation of turbulent channel flow at $Re_{\tau}=180$ as well as
$590$.
