diff --git a/robosub_2025-dev_branch/tests/motion_tests/roll_depth_hold_refined.py b/robosub_2025-dev_branch/tests/motion_tests/roll_depth_hold_refined.py
new file mode 100644
index 0000000..f14e857
--- /dev/null
+++ b/robosub_2025-dev_branch/tests/motion_tests/roll_depth_hold_refined.py
@@ -0,0 +1,32 @@
+import rospy
+import time
+
+from auv.motion import robot_control
+from auv.utils import arm, disarm
+
+
+def main():
+    rospy.init_node("roll_depth_hold_refined", anonymous=True)
+    rc = robot_control.RobotControl(enable_dvl=False)
+
+    arm.arm()
+    time.sleep(3.0)
+
+    rc.set_depth(0.7)
+    rc.set_mode("ALT_HOLD")
+    rospy.sleep(5.0)
+
+    rate = rospy.Rate(10)  # 10 Hz update rate
+    start_time = rospy.Time.now().to_sec()
+    while rospy.Time.now().to_sec() - start_time < 5:
+        rc.movement(roll=5)
+        rate.sleep()
+
+    rc.movement(roll=0)
+    rospy.sleep(1.0)
+
+    disarm.disarm()
+
+
+if __name__ == "__main__":
+    main()