When the cut scene ends, Lara finds herself on the bridge under fire from the helicopter off to the left. The blue Lara icon at the bottom right corner of the screen means "run like hell". So immediately start moving forward. Keep running and jump the gap in the bridge.
At the next gap, take a running jump along the right side of the bridge. The bridge is slightly higher on the right, making it easier to grab the edge of the plateau ahead.
If you succeed in making the grab, pull up as the bridge falls away behind you. Cross CHECKPOINT 17 and get ready for a fight.
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