A mission to explore the remains of the Titanic went horribly awry on June 18, riveting the world as search crews raced against time to find a submersible that vanished during an attempted dive to the ocean floor, where paying passengers and Stockton Rush III, founder of the submersible company OceanGate, could view the Titanic wreckage.

On Thursday the U.S. Coast Guard announced pieces of the submersible were found scattered across a debris field a third of a mile from the Titanic. OceanGate issued a statement saying, “We grieve the loss of life” of those aboard.

Also aboard the vessel were French explorer Paul-Henry Nargeolet, British explorer and jet dealer Hamish Harding and Shahzada Dawood of a prominent Pakistani family and his son Suleman.

Records show the tragedy was preceded by a long path toward developing a craft that would reach the ocean depths where the Titanic rests. They also show a history of safety concerns.

Retrace the development of OceanGate and its submersibles, and the search for the missing Titan, with this timeline.

2009: OceanGate is founded

A provider of manned deep-sea submersibles, OceanGate starts operations on the West Coast, the company has stated in news releases. Its founder is Stockton Rush III, who graduated from Princeton University with a BSE in aerospace, aeronautical and astronautical engineering in 1984 and obtained an MBA at the University of California Berkeley’s Haas School of Business in 1989, according to his biography on OceanGate’s website.

February 2012: OceanGate expands to Florida and the Caribbean

It’s registered as a corporation in Miami, with Guillermo Sohnlein as president and Rush as secretary. Documents state the company incorporated in Washington State in Dec. 2011.

May 2013: Collaboration announced with University of Washington

OceanGate says it will collaborate with the school’s Applied Physics Lab on Project Cyclops, a new 3000-meter 5-person submersible.