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I'm experiencing the same exact thing, have you found a way around it? I noticed that after I activated the TD-25 (while all conditions were met) it looked like the mission was complete (the mission log disappears for a second) but then as soon as my altitude went too high it went back to missing a requirement.
I created a bug report, let me know if you find a solution.
https://bugs.kerbalspaceprogram.com/issues/24213
Try building your ship again and make sure you are selecting the TD-25, it should be the larger decoupler. For some reason even though I was selecting the TD-25 from the parts menu it was giving me a TD-12. I didn't notice this until I went to add a second TD-25 to my ship.
I checked numerous times for the part, believing I may have had the wrong part. I have TD-12, TD-25, and TD-18, so it's easy to be mistaken. The part was definitely a TD-25. It's very noticeable when you only have parts for a TD-12, especially because it mucked up the ship's balance in flight. I modified the ship several times on the day I was experiencing the issue, and even tried to sandwich the TD-25 between two TD-12 parts, believing that may be part of the issue. This still didn't work. I'm under the assumption at this point that either it's a bug, or I need to attach the TD-25 to larger parts that it's designed for.
I didn't save the ship, so I will rebuild it and give it another go. If I'm still experiencing the issue, I'll check back with the bug report and provide supporting evidence on my side. Maybe a fresh build will work.
https://youtu.be/uWbQRXiFCNc
Bug Report: https://bugs.kerbalspaceprogram.com/issues/24217
I'm supposed to test a TD-12 Decoupler while splashed on Kerbal using staging. With the contracts window open I can see that all conditions are met (Kerbal, Splashed), and when hitting Spacebar I get the sound of the Decoupler (can't see it underwater though). Still the mission is not counted as accomplished!
I tried again, this time the Decoupler was attached directly to the command pod and turned around so the arrow pointed the other direction, and suddenly the mission counts as accomplished, so... just keep trying and fiddle around with the setup and you should be able to make this work.
The game isn't broken but there are a number of ways to check things. You may also want to try a file verify.
https://steamcommunity.com/sharedfiles/filedetails/?id=2776295284