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The bit to watch is at the end when it needs to exit... i have seen it stuck in the tunnel so it cannot exit and not trigger the last objective
i go around, kill everything and yeah , nothing
Leaving the area near the probe and returning to it might jumpstart it back to working order.
The C.A.T needs to have a clear route or it will turn around and go back the way you came.
It helps to get a bit infront of it and unlock what you need to progress without it being unhelpful.
Hope that helps, it's a good mission if you play on No Mercy
Can confirm that going back to different location than going back works, it unstuck the C.A.T. and dit also is not targeted by enemies so it is safe to leave it alone. Scratch that CAT goes back a bit than gets stuck in same spot over and over again.