LR45 CREW BUSTS THE ALT RESTR ON TEB DEP OFF RWY 24.

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PRIOR TO THE PAX ARRIVING AT TEB; THE CO-PLT AND I CONDUCTED A DEP BRIEFING SPECIFICALLY DISCUSSING THE TEB 5 DEP. WITH GATE HOLD PROCS IN EFFECT WE LOADED OUR PAX AND CALL FOR ENGINE START. ATC ADVISES US THAT WE ARE ON THE LIST AND TO EXPECT A ONE HOUR DELAY. OUR FINAL DEST IS ICT; AND THE FIRST PART OF OUR CLRNC IS THE TEB 5 DEP TO ETX. ONE HR AND TWENTY MINS AFTER CALLING FOR ENGINE START WE ARE CLRED FOR TKOF. ONCE AIRBORNE OFF RWY 24 I CLBED OUT ON RWY HDG TO 1500 FT MSL THEN TURNED TO A HDG OF 280 DEGS AND CONTINUED TO CLB TO 2000 FT MSL. AT ABOUT 3.5 DME FROM TEB VOR DEP CTL ASKED US 'WHAT IS YOUR ALT?' WE RESPONDED WITH '2000 FT.' THE CTLR THEN RESPONDED WITH 'BE ADVISED THAT YOU ARE TO MAINTAIN 1500 FT UNTIL REACHING 4.5 DME OFF THE TEB VOR.' I RESPONDED AT THIS TIME WITH 'ROGER THANK YOU VERY MUCH.' THE REST OF THE FLT WENT WELL. MY CO-PLT AND I REGULARLY FLY INTO TEB AND ARE FAMILIAR WITH THE TEB 5 DEP. THE MORAL OF THE STORY IS THAT ALL DEPS SHOULD BE REBRIEFED PRIOR TO TKOF WHEN SIGNIFICANT DELAYS ARE ENCOUNTERED AND/OR NUMEROUS DISTRS HAVE TAKEN PLACE SINCE PREVIOUS BRIEFING. WE CANNOT COUNT ON THE WONDERFUL HUMAN MEMORY ALONE TO REMEMBER THE INFO FOR LONG PERIODS OF TIME.SUPPLEMENTAL INFO FROM ACN 674014: WHILE DEPARTING TEB FOR ICT; DEPARTING ON THE TEB 5 DEP FROM RWY 24. THE PLT FLYING FROM THE L SEAT DEPARTED FROM RWY 24 CLB TO 1500 FT ON RWY HDG TURN TO A HEADING OF 280 DEGS AS PER THE TEB 5 DEP. THEN WE CLBED TO 2000 FT BEFORE THE REQUIRED 4.5 DME FROM TEB VOR WAS ACHIEVED. ATC ADVISED US OF THE DEV AT 3.5 DME FROM TEB VOR. NO DEVIATIONS WERE REQUIRED BY OTHER ACFT. BOTH THE CAPT AND MYSELF ARE VERY FAMILIAR WITH THE DEP AND I SHOULD HAVE WATCHED CLOSER THE DEP PROC. A FIX WOULD HAVE BEEN TO RE-READ THE TEB 5 DEP BEFORE THE TAKEOFF AS WE HAD A 1 HR 20 MIN GND HOLD ON THAT DAY.