When you regain control after the cutscene, Lara is hiding among the vines. The nearby mercenary has not noticed her yet. Press Melee for stealth takedown.
Meanwhile, Jonah takes care of a second man.
Loot the body of the one you killed, then sidle forward, staying hidden among the vines. Make sure the enemy standing near the APC isn't looking. Then quickly cross to the next vine-covered wall just ahead on the left.
Follow that wall to the left and around the corner.
Scramble up the wall below the next enemy but don't pull up.
Make sure he's not being observed (yellow in Survival Instinct) then press Melee for another stealth kill.
Once he's dead, you can pull up. Jonah takes out his guy on the other side of the road. Move toward Jonah to start a cutscene.
One of the men approaches from the front of the APC, so Lara and Jonah crawl under the vehicle to hide.
Crawl forward a little at a time...
...waiting for 2 soldiers to emerge from the vehicle and step away before you resume crawling.
When you emerge on the other side of the vehicle, there's another short cutscene. Lara and Jonah each kills one of the enemies. Then Lara tells Jonah to go to the left while she takes care of the lightly armored soldiers.
When you regain control, stay hidden in the bushes behind and to the left of the APC and wait for the soldiers to approach.
If you're patient, one should wander off, while the other starts poking around nearby. As long as he's unobserved (yellow) and you see the Melee icon above his head, press Melee...
...for another stealth kill.
The other soldier takes off after Jonah, but don't worry; he'll be all right.
Once the soldier is out of range you can emerge from hiding and search the bodies. Then make your way around the left side of the pit.
Crack open the salvage crate near the parked truck. Then continue past it, in the direction the soldier went.
Scramble up the wall behind the truck to trigger another cutscene.
The soldier spots Lara and they struggle briefly, but Lara manages to disarm him and pull him over the edge.
Jonah deals with a low-level mercenary by taking his pistol and beating him with it.
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