Swoop

"Pug made a slight peremptory move of a thumb, and Rhoda got off her stool. ..He held open a door for her and in a whipping wind, they walked to the stern where gulls swooped and screeched, and passengers clustered at the rails."- Winds of War by Herman Wouk.

Swoop (v): When a bird descends from flight, it is called swooping.

In that regard, it is similar to the word "alight", which too means settle or stay after descending although alight is also used when a person steps out of a vehicle, dismounts from a horse, etc.