If the vehicle is your only mode of transportation then you should be able to insure it since you have an "insurable interest" in the vehicle. However, if you are involved in an accident where you are considered at fault then your father's estate could be held liable for the damage you caused.
Coverage & Claims
Comprehensive coverage is insurance that specifically covers your vehicle against damage due to weather events like flooding and basically anything other than an accident. As long as the damage is more than your comprehensive deductible then your vehicle will be repaired by your insurance company once you have paid your deductible.