This weekend we slept out two nights on Michael’s boat. Julie and I were pretty comfortable – too warm, in fact- with a fleece blanket and the old North Face Chrysalis opened up as a comforter. We slept in the forward saloon, and I kept the main hatch wide open both nights.
The key thing was that the fleece blanket had enough friction to not slide off, and its fuzzy surface was warm and comfortable compared to the slippery nylon of a lightweight sleeping bag. Maybe a down comforter in lightweight materials with an attachable liner of fleece or some other flannel-like synthetic would be a good choice for couple camping.