An unplanned event or series of events that results in damage to DoD property; occupational illness to DoD personnel; injury to on or off-duty DoD military personnel; injury to on-duty DoD civilian personnel; or damage to public or private property, or injury or illness to non-DoD personnel, caused by DoD activities.
Ref: DoDI 6055.07
A mishap investigation is just one of five types of safety investigations. The other four types are Nuclear Surety, Incident, Hazard, and Safety Study.
Read more about these in DAFI91-204.