H25C FLT CREW ACCEPTS IMMEDIATE DEP CLRNC RESULTING IN A TEB SID OVERSHOOT.

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IT WAS EARLY MORNING AND I WAS FLYING WITH A NEW HIRE. IT WAS OUR SECOND LEG AND THE FIRST FLT THAT I HAD FLOWN WITH HIM. WE HAD COME DOWN TO TEB FOR A PICK-UP. OUR PAX HAD SHOWED UP 20 MINS EARLY; SO WE WERE IN A LITTLE HURRY TO GET THINGS DONE AND GET GOING. I WAS WATCHING THE TAXI CHART WHILE THE OTHER PLT TAXIED OUT; IT IS A LITTLE TRICKY GETTING TO THE RWY. WHEN WE GOT TO THE RWY 24; I WAS GOING TO LOOK OVER THE DEP (TEB 5 DEP) ONE MORE TIME. THE TWR GAVE US AN IMMEDIATE TKOF. I LOOKED QUICK AT THE DEP FOR RWY 24 AND SAW MAINTAIN 2000 FT; SO I SET THAT INTO THE 2000 FT ALT ALERTER. THE MAINTAIN 2000 FT I SAW WAS THE LINE ABOVE RWY 24. OUR INSTRUCTIONS WERE TO MAINTAIN 1500 FT UNTIL PASSING THE TEB 4.5 DME; THEN CLB MAINTAIN 2000 FT. I WAS IN TOO MUCH OF A RUSH. I SHOULD HAVE TOLD THE TWR WE NEEDED A COUPLE OF MINS BEFORE WE WERE READY FOR DEP. TEB TWR HANDED US OFF TO DEP AND WE WERE GOING THROUGH 1500 FT FOR 2000 FT WHEN I CALLED IN. I SAID WE WERE LEVELING AT 2000 FT. THE CTLR CAME BACK AND SAID THAT WE WERE TO BE AT 1500 FT ON DEP; BUT TO MAINTAIN 2000 FT. HE CAME BACK AND SAID ALL DEPS OFF TEB WERE TO STOP AT 1500 FT INITIALLY. I LOOKED AT THE DEP AGAIN AND SAW MY MISTAKE. IT WOULD BE NICE IF THE CHARTS COULD DISPLAY THE SIDS FOR ALL ARPTS WITH MULTIPLE INSTRUCTIONS FOR DEP RWYS WITH A LINE SEPARATING EACH SET OF RWY DEP INSTRUCTIONS. FOR THE TEB 5 DEP; ALL OF THE TKOF INSTRUCTIONS RUN TOGETHER AND IT CAN BE CONFUSING. IF YOU LOOK AT LGA NINE DEP PAGE; THEY SEPARATE EACH SET OF INSTRUCTIONS WITH A LINE. WHEN YOU ADD IN A DARK COCKPIT; AND BEING IN A HURRY; IT CAN LEAD TO CONFUSION.