Patent ID: 8369041

Claim:
A storage system comprising: a first buffer configured to store a first repeatable runout profile for at least one sector of a rotating storage medium; a second buffer configured to store a second repeatable runout profile for the at least one sector; and a controller configured to, during a first revolution of the rotating storage medium, control a servo of the rotating storage medium based on the first repeatable runout profile, wherein the controller is further configured to learn the second repeatable runout profile (i) while operating in a track-following mode, and (ii) during the first revolution, cease learning of the second repeatable runout profile when one of (i) the controller is operating in a seek mode and (ii) a read and write head of the storage system is in an off-track state, and subsequent to the first revolution of the rotating storage medium and based on whether the learning of the second repeatable runout profile was stopped during the first revolution, replace the first repeatable runout profile with the second repeatable runout profile in the first buffer.