changed logic for GateTask
changed logic for GateTask

chris-blay/guillemot-core,USU-Robosub/Gilligan,USU-Robosub/Gilligan,USU-Robosub/Gilligan,chris-blay/guillemot-core,chris-blay/guillemot-core,USU-Robosub/Gilligan,chris-blay/guillemot-core,USU-Robosub/Gilligan,chris-blay/guillemot-core