A disk drive is disclosed comprising a disk having servo data defining a plurality of servo tracks. The servo data comprises a preamble comprising a varying length across a radius of the disk, and a plurality of slanted line servo bursts recorded at a tilt angle with respect to the preamble. The tilt angle varies across the radius of the disk commensurate with the varying length of the preamble. A position error signal (PES) is generated in response to a phase difference when reading the preamble and the slanted line servo bursts.