The ledge where you're headed (the same one you saw through Lara's camera in the cinematic) is directly opposite the stern of the boat. Swim across to it, but don't climb up yet. Instead, swim around to the right, between the stone pillar supporting the ledge and the small cascade of water coming from above.
Face the spot where sunlight illuminates the cliff wall ahead. Then dive beneath the surface to spot two sea anemones anchored to the sea bottom.
Swim around to the left between the two anemones and scan the bottom for a small, shiny object. Pick up this reward (1/30) by swimming near it and pressing Interact.
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