Step away from the edge so Lara's back is against the bars. Grapple the second ring—Lara should do this automatically, but you can use manual aim if necessary—and pull to lower a drawbridge-style ledge. Keep pulling on the cable until the ledge comes all the way down and the grapple detaches from the ring.
Then immediately take a running jump off the window ledge, grapple the ring on the ceiling, swing forward and jump onto the door before it closes. You won't have time to swing back and forth first. So, if you can't jump on the first try, turn around and swing back to the window opening then try again.
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