Between Snowy, Kara, and Sorrel, you cut down the remaining two centipedes. You hear no more skittering, though there are still intermittent shrieks from further down the tunnel.
There's barely enough room to maneuver past the ichor-soaked bug corpses, but you can manage it.
The passage continues for a short trip, and then reaches a 4-way intersection. Directly ahead, a few steps head downward before ending in an unbroken wall of solid glacial ice. You can feel the chill radiating off of it. The passage continues straight and narrow to the left and right; to the left you can hear intermittent shrieks, and to the right you can see a couple of shriveled centipede husks.