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After I've killed brother Kanker I don't know how to get back to the surface.
I read the quest discription on this site and it said:

then return to the surface by going through the water system and up a manhole.

Where is this water system? I found a grating under water, but it can't be opened. And the manholes that I see are to high to reach. There are also cables hanging on the ceiling with a hook on the end. I can hold these cables and also tried to reach the manholes that way, but it did not work.

Is there something that I'm missing? I hope someone can help me with this.

Thanks

One of the levers close to the place where Brother Kanker was standing opens the grate. You end up underwater, but there is underwater room with a manhole through which you can climb up.

Another option is to climb the debris at the end of the other large hall (the one that forms a T with the hall where you found BK). You follow the hallway after that, jump over the opening and you'll get back to where you started.
(if you fall in the opening you end up in the same underwater room as where you end up when you end up when going through the grates).