This achievement is story based, and cannot be missed. It will pop when you complete the Merryweather Heist mission, stealing the super weapon from a freight ship at the docks.
Sadly, Lester comes along, in a hospital gown, showing his fat ass crack, and tells you to put it back, after all the hard work! The achievement pops either after or during the final cutscene.
NOTE: There's a strange phenomenon happening just lately with the Achievement system on the Xbox One. Achievements aren't popping visibly or audibly, but they do. Your console has to be connected to Live, so if they don't pop, check your Internet connection, and the Xbox Live status page at http://support.xbox.com/en-US/xbox-live-status
They DO pop correctly, as I obtained them on the 360 version.