We had a little kerosene wall mounted stove on a previous boat that took the chill off a 28 footer, but it really didn't get it up to room temperature in the winter time. Before that, I made a little wood stove that burned presto logs that fit in a companion way board. That's when we were really poor. It just barely took the chill off too. You'll want something that's vented outside for moisture control.
As far as mattress comfort, we bought one of those memory foam toppers and cut it to fit the last two boats we've had. Improved our sleep quality immensely, but it may be a little warm if your cruising area is hot.
1983 Fraser 41
La Conner, WA
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Boating for over 25 years, some of them successfully.