Pale Blue Dot is not a good opening song. For one thing it is very technical and epic, the band needs to be well warmed up and into the zone before they tackle that one.
But they started the last tour with TDEN.
Yeah, I don't know how they do it..
TDEN is also very heavy and riff driven, I think that's why it works. That's what I noticed recently, (since, like, 2010), they like to open their shows with something heavy that starts with memorable, chunky riffs. Off the top of my head, I recall them opening with As I Am, The Enemy Inside, Bridges In The Sky, and of course, TDEN, on the shows that I've seen them play.
So given that, I can see them opening this show with Room 137 or maybe Paralyzed.