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You will need to tune to Drop D.

Intro

The intro is in 4/4 timing, so you shouldn’t have any trouble.

Verse Theme

The verse is rather easy. Pay close attention to the pause from the
fifth fret on the A string to the Low E string that you have tuned to
D. Palm mute the open notes there.

Pre-Chorus

Chorus

Interlude

The interlude switches timing a bunch, but you will literally just
run through this entire part without pausing. It sounds weird, but it
is effective to provide that strange sound Tool is known for.

Outro

This is broken down because there are lots of repeats.

Here is the first measure :

Here is the second measure :

Here is the third measure :

Complete
Transcription To “Undertow” In PDF Format

Complete Transcription To “Undertow”
In PTB Format