Commercial Fixed Wing
Flight Crew Instrument; Flight Crew Multiengine; Flight Crew Air Transport Pilot (ATP)
Confusion; Situational Awareness
Deviation - Altitude Excursion From Assigned Altitude; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
Flight Crew Returned To Clearance
Company Policy; Human Factors
After taking off from runway 24 and climbing via the RUDDY6 we leveled off at 1500 as published; until WENTZ when you are clear to climb to 2000. We failed to continue the climb to 2000 after passing WENTZ. As ATC was telling us we were low for that sector to continue the climb the aircraft GPWS warning system alerted us with 'GEAR' an expedited climb was initiated. Although proper briefing of the departure was giving and acknowledged; a couple of distractions play a role in not maintaining proper separation between the ground and the flight path. It is imperative to maintain situational awareness especially when so close to the ground and not let distractions take over.
First Officer reported receiving a GPWS configuration warning after failing to execute the required segment climb on the SID out of TEB.