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To complete that mission you must be heading out into the Sun's SOI (but still within Kerbin's) when you test the engine.
ie to escape Kerbin
ie your orbit switches from orbiting Kerbin to one that orbits the Sun.
Be carefull when accepting missions to test things while on an escape trajectory as they usually cost you more than the reward. Even when you want to send a mission to another planet the thing the random mission generator wants you to test is problematic to incorporate into your mission. eg test a Rhino engine while on escape trajectory via the staging sequence.