  Hardware efficient transpilation of quantum circuits to a quantum devices
native gateset is essential for the execution of quantum algorithms on noisy
quantum computers. Typical quantum devices utilize a gateset with a single
two-qubit Clifford entangling gate per pair of coupled qubits, however, in some
applications access to a non-Clifford two-qubit gate can result in more optimal
circuit decompositions and also allows more flexibility in optimizing over
noise. We demonstrate calibration of a low error non-Clifford
Controlled-$\frac{\pi}{2}$ phase (CS) gate on a cloud based IBM Quantum
computing using the Qiskit Pulse framework. To measure the gate error of the
calibrated CS gate we perform non-Clifford CNOT-Dihedral interleaved randomized
benchmarking. We are able to obtain a gate error of $5.9(7) \times 10^{-3}$ at
a gate length 263 ns, which is close to the coherence limit of the associated
qubits, and lower error than the backends standard calibrated CNOT gate.
