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BoatState step function updates and tests #471

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BoatState step function updates and tests #471

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Verification

  • Ran all tests, all new tests passed.

@kristatraboulay kristatraboulay self-assigned this Jan 12, 2025
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@eomielan eomielan Awaiting requested review from eomielan eomielan is a code owner

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Global to relative fluid velocity
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