FLT OF 5 KING AIR ACFT HAVE UNAUTH PENETRATION OF AIRSPACE ON SHORT 9 MIN FLT.

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IT WAS A FLT OF 5 KING AIR B200'S. WE WERE GOING FROM SCOTTSDALE TO GOODYEAR (25.4 NM) CHIEF PLT CALLED APCH AND ASKED BEST WAY TO GET TO GOODYEAR WITH MINIMUM DELAY. THEY SUGGESTED A 241 DEGS HDG FOR 10 MI AT 3000 FT THEN L 220 DEG TO 16 MI AT 2500 FT TO GOODYEAR. ALL 5 CREWS WERE BRIEFED. AS WE TOOK OFF (CHIEF PLT AND MYSELF) WE MADE A L TURN TO THE 245 DEG HDG. AS I FLEW; CHIEF PLT WAS SUPPOSED TO BE CHKING TO HELP KEEP US OUT OF EVERYONE'S AIRSPACE. WITHIN FIRST 30 SECONDS HE SAID HE DIDN'T THINK HE WOULD BE ANY HELP BECAUSE THE NEW MAP WAS DIFFICULT TO READ. I WENT TO THE GPS FOR NAV HELP. IT INDICATED WE WERE N OF OUR TRACK SO I ADJUSTED. WE ENDED UP PASSING N AND W OF OUR PLANNED INITIAL FIX. I ENTERED DIRECT GOODYEAR BUT GOT AN ERRONEOUS READING W. WHEN I LOOKED UP WE HAD ALREADY DRIFTED TOO FAR W INTO GLENDALE CLASS D AIRSPACE. SINCE GOODYEAR WAS JUST S I CONCENTRATED ON COLLISION AVOIDANCE; (THERE FORTUNATELY WAS NONE); TUNING THE RADIOS FOR GOODYEAR AND LNDG. AT THE TIME I FELT WE NEEDED MORE KNOWLEDGE OF THE AREA. IT WAS A 9 MINUTE FLT - WITH THE HELP I HAD; TOO MUCH HAPPENED TOO QUICK. FOR THE TRIP BACK WE DISCUSSED POINTS ON THE MAP TO HELP KEEP US CLR OF ALL AIRSPACE (CTLED); TO STAY W OF THE POWERPLANTS AND S OF DEER PARK. WE TALKED TO GLENDALE AS WE PASSED E OF THEM; I THEN RAN THE NORMAL CHKLISTS AND CHKED ATIS AT SCOTTSDALE. I LOOKED UP FROM WRITING THE ATIS AND FOUND THAT WE WERE JUST E OF THE POWERPLANT. POINTED THIS OUT TO THE PF. HE SAID 'WE'RE OK'. I THEN ASKED HIM TO CORRECT W AND SHOWED HIM ON THE MAP; WE WERE IN THE CORNER OF THE PHOENIX TCA. AFTER CLRING THE TCA I GAVE HIM THE NDB TO SCOTTSDALE WHICH IF FLOWN DIRECT WOULD KEEP US CLR OF THE TCA AND DEER PARK. I RAN THE DSCNT; 180 DSNDING; AND APCH CHK; CHKED IN WITH THE FBO; WHILE AT THE SAME TIME CALLING OUT TWICE THAT WE WERE NOT TRACKING TO THE NDB BUT DRIFTING N. CHKING OUR POS WITH THE MAP FOUND US ON THE EDGE OF DEER PARK'S AIRSPACE (CLASS D). WE TURNED S; THEN E TO CLR DEER PARK; CALLED SCOTTSDALE AND LANDED. THE REASON ALL 5 ACFT WENT VFR WAS TO KEEP THE PAX FROM HAVING TO WAIT ON EACH OTHER AT THE DEST. TO DO THIS; SAFETY WAS SACRIFICED BY NOT USING ATC BECAUSE OF FEARED DELAYS CAUSED BY VECTORING OR HOLDS ON THE GND. AS A PLT/CREW MEMBER WE SHOULD HAVE MADE OURSELVES MORE FAMILIAR WITH THE AREA. IN THE CASE OF MY PARTNER; HE SAID HE HAD BEEN FLYING THE HAWKER LATELY AND FELT TOTALLY BEHIND AND UNFAMILIAR WITH THE KING AIR AND THE VFR OPS. AS A PLT I SHOULD HAVE REALIZED THAT A VFR FLT AROUND A TCA; 2 CLASS D AIRSPACES; IN AN UNFAMILIAR AREA; ALL IN 10 MIN; WAS ASKING FOR TROUBLE. IN TALKING WITH ONE OTHER CREW; THEY AS WELL HAD ENCROACHED ON GLENDALE'S AIRSPACE. VFR IN THIS CASE WAS A BAD IDEA!