No, you can't catch HIV if you had a condom. Even if she was infected with HIV (which she probably wasn't), you probably wouldn't catch HIV even without a condom.
HHH, MD
Firstly, You dont know that she was infected with HIV or any other STD for that matter, it is a very high probability she was not..
Secondly, if the condom did not split then the first part of my answer is irrelevant because you can not get hiv, even from an infected person from protected sex,
You are fine,forget this episode and move on,theres no way you aquired anything from it.