That footage is now with Hawke's Bay police.
The missing door, which sits on the back of the boat, helps keep the sea out of the cockpit.
"It makes it a bit awkward, because anytime we are working in rough weather, we've got a lot more water coming on board the boat than usual," van Tuel said.
A night vision monocular, image stabilised binocular and a hand held radio were among the items stolen.
"Not only that, they actually went inside the engine room in the boat and pulled some dipsticks out and thrown onto the bottom of the boat, so we are not sure if they've done something else in the engine compartment or not."
Van Tuel said the Coastguard reported the incident on Tuesday.
"It is just unfortunate we've got some people that saw an opportunity and decided to take some really critical equipment."
He is hopeful the items will be returned, but said if they could not be, the Coastguard would have to spend limited funds on new gear.
He said while some of the gear was old, including the night vision binoculars, it was of good quality.
Van Tuel said, despite the theft, they were still able to effective in their search and rescue missions, with older binoculars and spotlights.
"It just makes it a little bit more challenging for us than normal."