B737-700
Flight Crew Last 90 Days 240; Flight Crew Type 6300
Other / Unknown; Communication Breakdown
Deviation - Altitude Crossing Restriction Not Met; Deviation / Discrepancy - Procedural Published Material / Policy; Deviation / Discrepancy - Procedural Clearance
Air Traffic Control Issued Advisory / Alert; Flight Crew Became Reoriented
Human Factors; Procedure
Climbing out on the MNZNO One RNAV Departure; we interpreted instructions from ABQ Departure to be 'climb to FL200.' This interpretation negates all altitude restrictions on the SID. Before handing us off to the ABQ Center Controller; Departure told us for future reference we needed to make the 'at or below' altitudes on a climb via clearance. We explained that we understood the clearance to be 'climb to FL200' (meaning unrestricted).  Had we interpreted the clearance to be climb via no mistake would have been made. [We should] state unrestricted climb in verbology when reading clearance back to ATC.
During climbout on the MNZNO Departure; ATC cleared us to climb. We did not hear the word 'via' and climbed through 9;000 feet before YUGLU. ATC said later that he had said VIA. Neither one of us heard that. The Company website has a video that came out yesterday about changes in phraseology. I will watch that and listen better and ask ATC if I am not sure of the clearance.
B737 flight crew reports crossing YUGLU above 9;000 feet on the MNZNO 1 departure from ABQ after being cleared to FL200 by Departure.