C550 CAPT INADVERTENTLY FLEW INTO RESTR AIRSPACE DURING A VFR DEP TO PICK UP IFR FLT PLAN.

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IN RESPONSE TO THE RESTR AIRSPACE VIOLATION ISSUED ON OCT/THU/02; ACFT WAS RELEASED FROM COS VIA RADAR VECTOR (VFR) TO EXPECT AN IFR CLRNC TO SDF. WHILE CLBING TO SELECTED ALT; WE ELECTED TO GO DIRECT FMN TO KEEP A SAFE DISTANCE FROM R2601. IN DOING SO; WE SELECTED NAV DIRECT; AND THE ACFT ROLLED TO THE L. XCHKING MY HSI WITH THE RAW DATA SUPPLIED BY THE GPS; I REALIZED A COURSE DISCREPANCY. I RESELECTED HDG SELECT TO ESTABLISH A SW HDG AWAY FROM THE RESTR AREA. DUE TO CLOSE PROX; GND SPD; AND TIME TO CONFIRM DISCREPANCY; WE WERE UNABLE TO AVOID CUTTING THE INSIDE EDGE OF R2601. ATC DID RESPOND. SUPPLEMENTAL INFO FROM ACN 562377: SHORTLY AFTER TKOF; WE WERE GIVEN A WESTERLY VECTOR; TOLD TO CLB TO REQUESTED VFR ALT AND THEN OWN NAV. THE PIC RPTEDLY ELECTED TO GO DIRECTLY TO FMN TO KEEP A SAFE DISTANCE FROM R2601. IN DOING SO; I BELIEVE THE PIC SELECTED NAV DIRECT. I GLANCED OUT THE WINDOW AT WHICH POINT I THOUGHT 'THIS (THE MOUNTAINS STRAIGHT AHEAD OF ME) LOOKS/VERIFIES WE ARE ON TRACK;' AND THEREFORE FELT SAFE TO BEGIN ATTENDING TO MY DUTIES OF THE AFTER TKOF CHKLIST. VERY SHORTLY AFTER BEGINNING THE CHKLIST; I GLANCED UP AGAIN AND (WITH DISBELIEF) NOTICED WE WERE ON THE E SIDE OF HWY 115; WHICH IS THE BORDER OF 2601. I STATED IN AN URGENT VOICE TO THE PIC THAT WE ARE ON THE WRONG SIDE OF THE ROAD AND NEED TO BE OVER THERE (POINTING TO THE W SIDE OF HWY I15). THE PIC HAD AT THIS POINT ALSO DETERMINED THAT WE WERE IN RESTR AIRSPACE AS WELL; AND XCHKED THE L-HAND SIDE HSI WITH THE RAW DATA SUPPLIED BY THE GPS AND REALIZED A COURSE DISCREPANCY. HE IMMEDIATELY RESELECTED HDG SELECT TO ESTABLISH A SW HDG AWAY FROM THE RESTR AREA. THE CTLR (COS DEP) IMMEDIATELY TOLD US TO TURN R; I BELIEVE; TO 265 OR 255 DEGS TO EXIT THE RESTR AREA. THE PIC WAS ALREADY TURNING TO A MORE WESTERLY HDG AND COMPLIED WITH THE CTLR'S DIRECTION. I ATTEMPTED TO RESPOND TO THE CTLR; BUT INADVERTENTLY PUSHED THE PUSH-TO-TALK BUTTON TO 'INTERPHONE' AND NOT TO 'MIKE' SO THE CTLR HAD TO REPEAT HIS DIRECTIONS. DUE TO THE CLOSE PROX; GND SPD; AND TIME TO CONFIRM THE DISCREPANCY; WE WERE UNABLE TO AVOID CUTTING THE INSIDE EDGE OF R2601.