I was looking through the Merc: 2000 book and while it lists a grappling hook, it is hand thrown and the rules are very basic. It counts as a 2kg object for the purposes of throwing (because it has rope attached, thus making it 2kg instead of 1kg). Based on that I figured the closest rifle grenade type weapon would be the 140mm RAW listed in the main book but there doesn't seem to be any special rules associated with that, it's treated as a normal rifle grenade.
Which leads me to the conclusion that, barring any alternate rules we might come up with, the only way the "normal" rules would handle a harpoon gun is to treat it like a grenade launcher with some attention paid to the attached rope (perhaps making the task resolution another stage more difficult?)
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