Okay. This is what is absolutely needed to bypass the Madsen Glitch.
When you restart the mission, you have to start at the beginning, and that means you must start from the CUT SCENES. If when you restart and you pop up on the water tower, you will still run into the same problem. If you are having trouble getting to the CUT SCENES, turn off the PS2, and eject the CD-ROM. Take out the Memory Card. And then reinsert both. Load Game, and watch the CUT SCENES. Now you can all rest easy. i got this off another website and I hav tried it and it didnt work
I think you need to go on the main menu and go on "previously on 24" then go on missions and start the hour again... I'm not certain though