CRJ200 FLT CREW DEVIATES FROM THE KENNEDY 9 DEP.

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MISREAD PDC FOR KENNEDY 9 DEP. MISSED CANARSIE TRANSITION; THEREFORE CONTINUED ON RWY HDG AND WAITED FOR RADAR VECTORS AS STATED AT BOTTOM OF KENNEDY 9 DEP FOR FLTS DIRECT TO COATES. ATC INSTRUCTED US TO TURN L TO 090 DEGS AND MAINTAIN CURRENT ALT. COMPLIED WITH INSTRUCTIONS. SCHEDULED OVERNIGHT. CAUSE OF PROB: FATIGUE/LACK OF AWARENESS. AFTER REESTABLISHED IN CLB CREW REREAD PDC AND FOUND ERROR. SUPPLEMENTAL INFO FROM ACN 711213: AT 400 FT A TURN TO THE L TOWARDS THE VOR. I WAS HAND FLYING RAW DATA. DURING THE TURN I CTRED MY COURSE INDICATOR AND CONTINUED THE TURN. DURING THE TURN I CTRED THE COURSE INDICATOR TWICE. AT ABOUT THE 1.5 DME I CONTINUED THE TURN TO AN ANTICIPATED HDG OF 176 DEGS FOR THE 176 DEG RADIAL OUTBOUND COURSE. EXACTLY OVER STATION PASSAGE WE WERE GIVEN HDG OF 090 DEGS WHICH WE COMPLIED WITH. SHORTLY THEREAFTER; APCH QUERIED US AS TO WHICH DEP WE WERE GIVEN AND INFORMED US THAT WE 'MISSED THE RADIAL BY 2.5 MI.' HE DID NOT SPECIFY WHAT RADIAL HE MEANT AND WE DID NOT ASK AS WE WERE PROMPTLY HANDED OFF TO ANOTHER CTLR. ATC DID NOT COMMENT FURTHER ON THE ISSUE. BOTH THE CAPT AND MYSELF DID NOT FEEL THAT WE WERE OFF COURSE BASED ON WHAT WE SAW AND OUR INDICATIONS.