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The launcher was so far away they would never have heard the launch signature and the actual burn time on the rocket motor is only about the first 10 seconds of it's flight. The little light you see for the remainder of it's flight is a tracking flare (also IR) at the base of the missile, like a tracer, so the gunner can see the missile position in relation to his point of aim. (the 9M133 is laser guided, with the seeker homing on an infrared laser spot reflected from the target).

They were walkng in a file, looks to be on a trail, and based on their interval, probably in the dark. People tend to bunch closer in the dark.

The movement you see just before detonation is exactly sort of reflexive action you would expect to see from an individual or group in the moment that a large dark object about 1.1 meter long, 160mm in diameter, and flying at about 320mps (subsonic) suddenly appears in the air, coming right at them out of the dark.

You have about a spit-second. Just enough time to duck your head, hunch your shoulders, think "oh shit", and whoosh bang, that's it.

And now you know why you keep at least 5-10 meters (or more, depending on terrain and/or visibilty) of separation between individuals during dismounted movement. To reduce the odds of them getting everybody with one boom.