A disk drive is disclosed comprising a disk, and a head actuated over the disk. The head is positioned at a radial location over the disk, and a servo burst is written at the current radial location. The servo burst is read to generate a read signal, and the read signal is processed to generate a position error signal (PES). The head is moved radially in response to the PES, and the process is repeated multiple times to form a spiral track spanning at least one revolution of the disk.