How to Audit Successful Logins for certain logins only?
You can do this with audit objects with SQL Server 2012 and later by using a filter to specify the principals you want to audit.  The only downside is that you can't specify a group or a role, you have to include each login.

USE [master]
GO

/****** Object:  Audit [sysadmin_successful_logon] ******/
CREATE SERVER AUDIT [developer_successful_logon]
TO APPLICATION_LOG
WHERE ([server_principal_name]='domain\dev01' OR 
    [server_principal_name]='domain\dev02' OR
    [server_principal_name]='domain\dev03')
ALTER SERVER AUDIT [developer_successful_logon] WITH (STATE = ON)
GO

CREATE SERVER AUDIT SPECIFICATION [developer_successful_logon_spec]
FOR SERVER AUDIT [developer_successful_logon]
ADD (SUCCESSFUL_LOGIN_GROUP)
WITH (STATE = ON)
GO