The quickest way down is to drive one of the snowmobiles over the edge. Lara will jump off as it lands in the water.
To climb down, walk to the right side of the cliff edge.
Turn around, drop back and grab the edge, traverse all the way to the wall on the left and then drop to the snowbank below.
Lara will slide to a stop on the ice ledge.
The sniper in the cave isn't carrying anything, so you needn't bother going over there. Instead take a carefully angled running jump off the corner of the ice ledge to land in the water. You do need to set up this jump precisely, as shown above; otherwise Lara will hit the ice instead of the water.
Alternatively, turn around to face the cliff wall. Then safety drop from the left side of the ledge to the ice below.
Swim to the small, stone ledge in the opposite corner (shown in the 1st and 5th screenshots above), climb out of the water and follow the passageway to the next level.
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