When refs miss defense crossings it's painful, especially with manipulated defenses.
You'll see here that a red portcullis crossing is missed.
https://youtu.be/tRs7lJmzNVw?t=49
At the end of the match you'll actually find that we (319) cross over the defenses again to get in position cross it for a third time. In that time our teammate crosses it for the third time, breaching the defenses.
We make it back over in the nick of time to get on the batter, but it never should have been this close.
This scenario is particularly frustrating because in this case, two robots were distracted with a task that shouldn't have been necessary.
In a game that winning will be the result of using your time the most effectively, this could be really tough.