My
new boat has a hot water system with both AC
electric and engine heat exchanger heating and it's pure luxury.
However, between 2001 and 2016 I bathed out of a bucket in the
cockpit and often pondered schemes for low
fuel input water heating.
Two of the more practical were a heat exchanger
exhaust on the small petrol engine I used as a 12V
battery charger and using the tubular frame around the
solar panels as a solar collector.
Most of the time we only need warm water which is fairly easy to achieve using solar or waste heat.