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They appear as you play the game. The first one should appear after your first Golden Path mission, I believe.
The first Hurk mission shows up right after you take your first Outpost at the end of Act 1. The second one shows up (I believe) immediately after you finish the first. The third/last won't show up until you reach the second area of Kyrat through the story.
The Hurk missions will appear on your map as you do the main story missions, just keep an eye out for the big letter H on your map. I don't remember specifically which missions unlock Hurk, but I believe the first one is right after you complete the section in the Himalayas for Longinus, I think the mission was called Sermon on the Mount.
The last one is definitely in the North, and you have to do the Key to the North quest to see it I believe.
Anyway once you do all 3 of them, you will see the Harpoon Gun in the Signature Weapons page in the shop.