Heat rises, which is why all hull and cabin sides and roofs are insulated, but not all floors. The most important thing is to ensure the cabin bilge is well ventilated to avoid it becoming damp, which would lead to musty smells and -in extreme cases - rotten timbers. If you go for underfloor insulation, it should be done at the construction stage, so that you leave enough room to allow air to circulate throughout the cabin bilge. Any insulation should be non-absorbent - such as rigid foam boards - and not something that will retain the dampness that is bound to be present in the bilge to some extent.
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