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Went over your map but before I try saying I've fixed it I had to make changes you may not like so, first try it yourself...
Look at the waypoint numbers for Waypoint 6
You have
6,0 6,1 6,2 6,6 6,6
you need
6,0 6,1 6,2 6,3 6,4
Raise waypoint 6,0 and move it to a position above where you want it (helicopter) to land (so it can clear the trees), change the event to Reached waypoint 6,0 and adjust helicopter starting hight to above ground and reset the position of the 2 AI Soldiers you wish to mount
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