This next trip is a long one, but it's possible to make it without the UPV. I found it easier to maneuver without it, so the screenshots show Lara swimming. It's up to you whether to drive it the whole way, leave it outside the tunnel entrance, or skip it entirely.
Once again, swim or drive down from the air pocket into the big room...
Cross the room and enter the yellow tunnel (just above the entrance).
Follow the tunnel around to the left....
...straight on to a black grate, down a vertical shaft...
...then left to the door you opened using the previous lever.
Pick up a small medi pack if you have time (if not, you can come back for it later) and pull a second lever.
This opens a door in the red tunnel. (The room behind the door looks blue, but the light in the tunnel is red.)
Roll and swim out of the lever alcove, up to the right...
...to the top of the vertical shaft...
...straight on to the grate, then right...
...through the brick-lined tunnel into the big room...
...and finally across to the upper left opening on the right wall, which contains the air pocket.
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