Capistrano. I rarely need to debug it or do custom things.
Also, "cap shell" is a powerful tool to perform interactive commands across multiple servers, especially if you haven't got on the Chef/Puppet devops automation bandwagon. Didn't see a feature like that in Mina...
But, cap does have it's downsides. As in it's not fast - you end up doing silly things like trying to pack multiple commands into a single SSH invocation by concatenating them with a bunch of &&, just to speed up the deploy by eliminating multiple ssh calls. Kinda lame, if Mina solves this (does it?), it may be a good alternative for deploy only, but keep cap around too for stuff like cap shell (it's easy to configure all your servers/roles if that's all you use it for).