At the end of the season you can dump a lot of Simple Green or another environment friendly cleaner in the bilge add water and go fo a bumpy ride. That will swish it around then run your brush over it and pump out.
That always worked for me.
Or necessary. However, some people, concerned about mildew, are tempted to use chlorox--a bad idea b/c it is highly corrosive especially around aluminum. "Dry" is more important than "clean."
Heard a couple times to use powderd tide. Put it in the bilge,ride around,remove boat from water,drain and its clean. Never tried it myself though.
Grub
I cleaned the bilge on my last boat and kept up with it as best I could. Cleaned the bilge on the new boat but don't have the time to be down there scrubbing it. Not to mention its a stinky 30 year old bilge, so until I paint it, there's not much more I can do.