I thought I would look in to infallible and here is what I found.
Infallibility must be carefully distinguished both from Inspiration and from Revelation.
Inspiration signifies a special positive Divine influence and assistance by reason of which the human agent is not merely preserved from liability to error but is so guided and controlled that what he says or writes is truly the word of God, that God Himself is the principal author of the inspired utterance; but infallibility merely implies exemption from liability to error. God is not the author of a merely infallible, as He is of an inspired, utterance; the former remains a merely human document.
Revelation, on the other hand, means the making known by God, supernaturally of some truth hitherto unknown, or at least not vouched for by Divine authority; whereas infallibility is concerned with the interpretation and effective safeguarding of truths already revealed. Hence when we say, for example, that some doctrine defined by the pope or by an ecumenical council is infallible, we mean merely that its inerrancy is Divinely guaranteed according to the terms of Christ's promise to His Church, not that either the pope or the Fathers of the Council are inspired as were the writers of the Bible or that any new revelation is embodied in their teaching.
It is well further to explain:
that infallibility means more than exemption from actual error; it means exemption from the possibility of error;
that it does not require holiness of life, much less imply impeccability in its organs; sinful and wicked men may be God's agents in defining infallibly;
and finally that the validity of the Divine guarantee is independent of the fallible arguments upon which a definitive decision may be based, and of the possibly unworthy human motives that in cases of strife may appear to have influenced the result. It is the definitive result itself, and it alone, that is guaranteed to be infallible, not the preliminary stages by which it is reached.
I see the error in his ways was not himself but what humans did with freewill. I should not have made the statement of him making a "mistake".