CO is strange, while in it's pure form it is naturally slightly lighter than air, that has nothing to do with how it dissipates. Depending on environmental factors; temperature, mixture with other exhaust chemicals, etc. it can either rise, sink, or stay at the same level until it dissipates.
Simply, the path that CO takes can be unpredictable.
Therefore, it is possible that you could become asphyxiated in a bedroom with a CO detector on the ceiling in another part of the RV and it never goes off.
I remember not too many years ago, there was a string of deaths from CO asphyxiation on several boats. Some of these incidents occurred in the daytime, with people swimming in the water.
http://www.cdc.gov/niosh/topics/coboating/
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