Situation awareness (SA) is one of the defining constructs of the 21st century in Engineering Psychology. SA, concisely defined as current understanding of a dynamic situation, is considered important to the process of decision-making in several domains such as aviation, road transport, military operations, or human-robot interaction. Accordingly, a plethora of measurement approaches towards SA has been developed, including process measures, performance measures, subjective measures and objective measures. The most frequently used approaches for SA measurement are the objective ones, which typically rely on explicit query-probe techniques. Yet, these explicit measures do not account for the implicit processes contributing to the acquisition of SA, and thus also for the related product, an internal mental representation of the situation. To address this gap, an objective measurement approach based on implicit queries has been derived, querying operators to respond with an action that is either compatible or incompatible with adequate SA of the current situation. Results from the experimental validation of this measurement approach in a teleoperated grasping scenario are presented and discussed, and implications for future research are derived.