Date: 201606
Local time of day: 0601-1200
Location: SFO.Tower, CA
Flight conditions: VMC
Light: Daylight
Aircraft: EMB ERJ 170/175 ER/LR
Operator: Air Carrier
Operating under: Part 121
Flight plan: IFR
Mission: Passenger
Flight phase: Takeoff / Launch
Airspace: Class B SFO
Second aircraft: Cessna Citation Undifferentiated or Other Model
Reporter organization: Air Carrier
Reporter function: Captain; Pilot Not Flying
Reporter qualification: Flight Crew Air Transport Pilot (ATP)
Human factors: Situational Awareness
Second reporter function: Pilot Flying; Captain
Anomaly: Conflict Ground Conflict; Less Severe; Deviation / Discrepancy - Procedural Clearance; Ground Incursion Runway
Detector: Person Flight Crew
When detected: In-flight; Taxi
Result: Flight Crew Became Reoriented
Contributing factors: Human Factors
Primary problem: Human Factors

Narrative: We were cleared for takeoff on runway 1L in SFO and continued down the runway without issue until shortly after liftoff. I called V1 and then Rotate just prior to the crossing runway 28L and lifted off prior to 28R. We proceeded to call positive rate and gear up. After bringing the gear up; I glanced down to the left to see a business jet (Citation looking) crossing the runway with nose and wings well into the runway 1L enviroment. We were well above the aircraft and continued the deperature without incident but heard a lot of confusion and stress in the controller and business jet pilot voice. We were switched to Departure and the flight continued without incident. We proceeded to ACARS message dispatch to notify [dispatch] of the incident.I could have more vigilance in scanning the runway enviroment throughout the entire takeoff roll.


Second narrative: The flight began with my co-pilot recovering from food poisoning and our passengers showing up late but still having to make a meeting at the original time. To make matters worse; the Ground Power Unit (GPU) had a voltage spike which kicked it off-line; draining the battery. After charging the battery; we finally received a clearance to taxi and were cleared to 1R via Charlie; to hold at Echo. Once at Echo; we were told to taxi to 1R via Charlie; Lima; hold short of 1L; contact tower. The co-pilot; who was running the radios; switched to radio #1 (we were using #2 for ground) while I re-entered the departure runway into the FMS. By the time I switched to radio #1; the co-pilot had already switched to #1 and contacted tower. He said; 'Cleared to taxi to 1R via Charlie; Lima'. Since a plane had just departed in front of us; I assumed we had lucked out and got an immediate clearance to cross the runway; even though I did not hear the clearance due to not being on the same radio as the co-pilot. I taxied forward and before clearing the threshold said to the co-pilot; 'clear traffic' then looked down the runway; seeing a plane departing! I stopped immediately but had crossed the threshold by what we estimated to be 10 feet. I was now on Tower and was told to do a 180 and clear the runway; which we did. Even though I have over 10;000 flight hours; I have never had a runway incursion and felt I was much too good a pilot to make a mistake like that. I usually fly single pilot business jets and so don't interact with co-pilots much. The co-pilot and I had only made one flight together and even though we briefed expectations; roles; and responsibilities; I put too much reliance on him in a hurried; rushed environment. From now on; I will always confirm a taxi clearance while flying as a crew; especially at a busy an airport as SFO. I will also never allow one pilot of a crew to make a frequency or radio change without first confirming the other pilot is on the correct radio/frequency. The one thing I did right was to visually confirm the runway was clear but shudder to think what might have happened had it been low visibility conditions.


Synopsis: EMB-175 Captain reported; and a Citation Captain confirmed; the Citation encroached on the EMB-175's takeoff runway.