Wrote class to take care of logging

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>
Wrote some filtering in StartingGateMission

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>
Fixed bugs in StartingGateMission and added kmeans centroid averaging

Signed-off-by: Tushar Pankaj <tushar.s.pankaj@gmail.com>