Hi

ive tested with this file, only difference svgdoc is your document not 
your document.documentElement and it works in my ASV6.

<svg onload="test()" height="200" width="200"  
xmlns="http://www.w3.org/2000/svg";>
<script><![CDATA[
function test(){
dat="<svg width='200' height='200'><rect x='0' height='100' width='100' 
y='0'/></svg>"
svgdoc=document
pic=svgdoc.getElementById('pic')

spic = svgdoc.getElementById('spic');
var node=parseXML(dat,svgdoc) ;
pic.replaceChild(node,spic) ;
spic = doc.getElementById('newspic') ;
spic.setAttribute('id','spic');

}
]]></script>
<g id="pic">
<svg id="spic" height="200" width="200"  >
  <circle id='colorCircle'   cx='100' cy='100' r='50' fill='red' 
stroke='green' stroke-width='10'/>
</svg>
 </g>
</svg>


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