Crawl out the way you came. At the bend, turn left then immediately right.
Continue to the end of the crawlspace. Then turn around, back up to the opening, and save your game again if possible.
Drop into the icy water.
There are some flares sitting on the bottom here, but don't try to get them or Lara will freeze. Instead, immediately turn right...
...and swim as fast as you can over a little hump...
...and on toward the boat where you can climb out.
Let Lara warm up as you drive closer to the flares. If you park the boat in the corner marked with the 'X' in the screenshot above, you can hop out on the left, grab the flares, roll, and quickly climb climb back into the boat without freezing to death.
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