EMB ERJ 170/175 ER/LR
Flight Crew Air Transport Pilot (ATP)
Flight Crew Total 3437; Flight Crew Type 1512
Communication Breakdown; Situational Awareness
ATC Issue All Types; Deviation - Altitude Excursion From Assigned Altitude; Deviation - Altitude Undershoot; Deviation / Discrepancy - Procedural Clearance
Air Traffic Control Issued New Clearance; Flight Crew Returned To Clearance; Flight Crew Became Reoriented
Human Factors; Procedure
We were cleared on the BNDTO5 RNAV SID out of IAH. The PDC (Pre-Departure Clearance) instructed us to climb via the SID except maintain 4000. We departed normally and contacted departure when prompted by ATC. When we checked on with Departure; ATC simply stated; Climb Via the SID; with no altitude prompted. Since we had previously been given an altitude restriction on our PDC; I interpreted this to continue our climb to 4000. About 45 seconds Departure asked if we were climbing; to which we responded no; we were level at 4000 per our clearance. ATC then stated we should have been climbing to 16000. We started the climb and the flight continued without incident.The climb via phraseology in this case was the confusing culprit. I was under the impression that once an altitude had been given with a climb via clearance; that it was still in effect unless cancelled. Research since the event has led me to realize my mistake. Additionally; our charts are not as clear on this as they could be. The only place you will find the initial altitude for a SID is on the SIDPT page; and not the SID graphical depiction. This results in page flipping during a critical phase of flight to potentially find missed information. I would strongly suggest adding an initial climb altitude on a SID to the Graphic depiction in BOLD lettering. This would allow pilots to at a glance understand what they are cleared to.
EMB-175 Captain reported being confused about altitude assignment when cleared 'via' the IAH BNDTO FIVE SID.