A servo compensation system, comprises a sampler that generates a plurality of samples of a waveform that is generated as a read head moves across a servo track, which includes servo data and at least one synchronization symbol. A processor determines an estimated location of a peak amplitude of the waveform with respect to the plurality of samples of the waveform, determines a sampling phase, determines a compensation amount based on a compensation curve and the sampling phase, and determines a refined estimated location of the peak amplitude based on the estimated location and the compensation amount.