This is an unmissable achievement obtained during mission 3.
As a side note, when using angel boost to traverse gaps, there are a couple points in the game where you have to get near-maximum distance; to accomplish this, jump once, wait a brief moment, double jump, wait another moment, then use the boost ability and hold left trigger as long as possible. You can also get a tiny bit more distance by "dodging" forward at the end of the glide.