This can be finished on any level of any playthrough but I would suggest using Falcon on the first level. The Falcon seems to be the fastest and the most powerful. If you cannot get past any enemies without dying just use the EMP to freeze them and run past.
For 95% keeping following the edges until you cannot go any farther and then follow the opposite edge. You should get this without even trying in the later levels if you are looking for the Black Boxes or just trying to complete all the objectives.
In the bottom of your map there is a % of how much of the map you have explored for tracking.