As much as I can remember, there are two occasions where the helicopters appear: one is when you don't have the gun installed on the boat and flee to safety, and the other is when you have the gun installed and put an end to the Minefest personally. That's all there is to it.
If you're still stuck, either check video walkthroughs, or switch to Team Fortress 2.
By that, I didn't mean that it's a primitive game. It's awesome.
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