here let me say it again for you ITS NOT RECREATIONAL DIVING!!!!! as for rewriting tables let me tell you something, how do you think those tables came into being? do you know why they are some times called theoretical dive tables? the key word being "theoretical" do you have any idea how many times the tables, we as recreational divers have been rewritten? do you have any idea how many people were bent getting to todays dive tables? Robert was not a "passive diver" long before he got his rebreather he was doing some dives we would all consider crazy and he would just laugh, cause he knew a lot more about what "he" was doing then we did. and yes he had been to the chamber more than once.tHAT DOES NOT EQUATE TO POOR PLANING as we all know a person can stay with in the recreational dive limits and still come up bent. so wow you got 25 years of diving, i seriously doubt if you took your 25 years of diving and multiplied those dives by 2 you would not even come to half the amount of dive robert did in the last five years. who are you to say someone cant write their own dive tables? If they work for them then they work. and like i said, long before he got that rebreather robert was on his own page when it came to dive tables. he never asked anyone to understand it nor did he care to explain it. but never the less on 90% of his dives before the r.b he did not get bent. Robert pushed it to the limit every time he hit the water. God rest his soul, on his last dive something went wrong.what it was we will never know as robert didnt use a computer(least not on that dive) as for your 25 years of diving.....good for you im sure for the diving "you" do the recreational dive planer is perfect for you. When I have students in the water or when im leading a recreational dive I adhere to padi standards. when im hunting money fish I push the tables to the brink. call it what you want to, but everybody has limitations its good that yours have a clear defined line, stick to the passive diving and you should be fine.