I have no much knowledge about BMR, but with this message [Error] V-126-53 Could not contact the Bare Metal Restore Boot Server daemon (bmrdb),probably there is something wrong with your BMR Boot Server.Take a look these techs
Sorry I forgot to add a presentation about BMR, hope this help.
Boot server needs to be configured before you try 'prepare to restore'.
There is an entire manual for BMR that explains all the steps to be followed.
NetBackup Bare Metal Restore Administrator's Guide
Please take your time and read up before you try again.