Patent ID: 6952322

Claim:
A disk drive comprising: (a) a first disk surface and a second disk surface; (b) a first head coupled to a first actuator arm and a second head coupled to a second actuator arm and; (c) a voice coil motor for rotating the first and second actuator arms about a pivot axis, wherein: each disk surface comprises a plurality of tracks; a first track on the first disk surface comprises a plurality of data sectors for storing user data and N embedded servo sectors for storing servo data; a second track on the second disk surface comprises a plurality of data sectors for storing user data and N embedded servo sectors for storing servo data; the N embedded servo sectors are recorded at a periodic interval around a circumference of the first and second tracks; the N embedded servo sectors on the first track are recorded at a physical angular offset from the N embedded servo sectors on the second track; and while accessing the first track through the first head, the servo data on the first track is read through the first head and the servo data on the second track is read through the second head, wherein the servo data read from the second track is high pass filtered to generate a high pass signal for controlling the voice coil motor to actuate the first head over the first disk surface.