Date: 201510
Local time of day: 1201-1800
Location: PHX.Airport, AZ
Flight conditions: VMC
Light: Daylight
Aircraft: Medium Large Transport; Low Wing; 2 Turbojet Eng
Operator: Air Carrier
Operating under: Part 121
Flight plan: IFR
Mission: Passenger
Flight phase: Climb
Airspace: Class E ZAB
ATC / advisory: TRACON P50
Reporter organization: Air Carrier
Reporter function: Pilot Flying; Captain
Reporter qualification: Flight Crew Air Transport Pilot (ATP)
Human factors: Communication Breakdown; Confusion
Second reporter function: Pilot Not Flying; First Officer
Anomaly: Deviation - Altitude Crossing Restriction Not Met; Deviation / Discrepancy - Procedural FAR; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
Detector: Person Air Traffic Control
When detected: In-flight
Result: Air Traffic Control Issued New Clearance; Flight Crew Requested ATC Assistance / Clarification
Contributing factors: Procedure; Chart Or Publication
Primary problem: Procedure

Narrative: Initially cleared to climb via the Yotes3 departure; JARPA transition; as filed to ZZZ at the gate.  Upon checking in with ATC after takeoff; received amended clearance to 'climb via the SID; except maintain FL210.' I confused this clearance with a 'climb and maintain FL210' instruction; which would have negated the GOALY at or below 9;000 feet altitude restriction. My Pilot Monitoring (PM) did quiz me about the 9;000 feet restriction; but I was mistakenly sure that we were OK to climb to FL210 so I did not ask him to double check with ATC.  As we were passing 11;000 feet prior to GOALY; ATC ask us to expedite through 12;000 feet and stated that no nearby aircraft conflicts were an issue. We quizzed the controller about the clearance to climb to FL210 and the GOALY altitude restriction and was gently reminded that the 'climb via the SID' part of her initial instruction after checking in did not negate the GOALY restriction. After reviewing the Airmen's Information Manual; I have determined that I was clearly confused about the subtle differences between 'Climb and maintain' and 'climb via the SID; except maintain' clearances on Rnav departures.Obviously; a more careful review of these type of Rnav clearances are in order and I have studied the many examples in the AIM.  I will ask the PM in the future to pipe up and quiz ATC if there is any doubt about a clearance even though I was sure of myself; i.e.; practice better CRM! I would suggest adding a few words to these clearances in order to better clarify ATC's intentions. Instead of 'climb via the SID; except maintain FL210;' I would like to hear 'climb via the SID; after GOALY; maintain FL210' or 'climb via the SID; maintain FL210; comply with all restrictions.' If the clearance is to be 'Climb and maintain FL210;' how about changing it to 'climb and maintain FL210; GOALY restriction cancelled; or SID altitude restrictions cancelled.' These extra few words; or other words similar; would serve to remind the pilot as to the intent of the AIM procedures regarding ATC clearances. Furthermore; if I have ANY doubt about these type of clearances in the future; I am just going to ask ATC to clarify and add the additional words to make sure we are all on the same page!


Second narrative: [Report narrative contained no additional information.]


Synopsis: The flight crew of a regional jet misinterpreted a published climb profile and overshot a crossing restriction. There were no traffic conflicts and ATC subsequently issued the flight crew a new climb clearance.