CL604 CAPTAIN REPORTS EXCEEDING 1500 FT ALTITUDE RESTRICTION ON THE RUUDY1 RNAV DEPARTING TEB.

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ON A REPOSITIONING FLIGHT FROM TEB TO HPN; WE DEPARTED RUNWAY 24; CLEARED FOR THE RUUDY ONE RNAV DEPARTURE. WE FLEW A HEADING OF 240 DEGREES TO 1500 FT MSL; THEN TURNED RIGHT DIRECT WENTZ. APPROACHING WENTZ; ATC ASKED US OUR ALTITUDE; AND THE PILOT NOT FLYING REPORTED 'CLIMBING 2000 FT; OR 2000 FT.' ATC ASKED WHICH DEPARTURE WE WERE ON; THEN ADVISED US WE SHOULD BE AT 1500 FT; TO WHICH THE PNF RESPONDED WE WOULD DESCEND TO 1500 FT. ATC SAID; 'NO PROBLEM; JUST STAY AT 2000 FT;' AND WANTED TO MAKE SURE WE WERE ON THE SAME PAGE WITH REGARD TO THE DEPARTURE PROCEDURE. THE RUUDY ONE RNAV DEPARTURE PROCEDURE SPECIFIES CROSSING WENTZ AT 1500 FT; THEN TASCA AT 2000 FT OR AS ASSIGNED BY ATC. THERE WERE NO TRAFFIC CONFLICTS DURING THE EVENT. DURING THE PRE-DEPARTURE ACTIVITIES; THE ALTITUDE PRESELECT WAS SELECTED TO 2000 FT. ALTHOUGH THIS ALTITUDE WAS LISTED ON THE DEPARTURE; 1500 FT SHOULD HAVE BEEN PRESELECTED INITIALLY AS THIS WAS AN INTERMEDIATE LEVELOFF ALTITUDE ON THE DEPARTURE. OUR COMPANY OPERATES TO TETERBORO ON A REGULAR BASIS; BUT SINCE THIS WAS A NEW DEPARTURE PROCEDURE WE WERE NOT FAMILIAR WITH IT AND THE CREW SHOULD HAVE STUDIED IT IN MORE DETAIL BEFORE TAKEOFF. AS THE FLYING PILOT I ALSO SHOULD HAVE BRIEFED IT MORE THOROUGHLY; AND ASSURED THE ALTITUDE PRESELECT WAS SET AT 1500 FT UNTIL CROSSING WENTZ. ON ANOTHER NOTE; IT WOULD ALSO BE HELPFUL IF THE INITIAL LEVELOFF ALTITUDE WAS DEPICTED MORE CLEARLY ON THE COMMERCIAL CHART DEPARTURE PROCEDURE PAGE; AS IT LEADS TO SOME CONFUSION WHEN MORE THAN ONE ALTITUDE IS LISTED IN BOLD.