A system including a control module, error modules, and a tracking module. The control module: transitions a laser beam between positions on an storage medium; based on a tracking signal, adjusts a speed that the laser beam is transitioned, and while the laser beam is transitioned, increases the speed that the laser beam is transitioned from a first speed to a second speed. The error modules determine a track error of a current position of the laser beam and estimate a depth of a groove. The tracking module: while the speed of the laser beam is equal to the first speed, tracks the current position based on the track error and the depth of the groove; while the speed of the laser beam is equal to the second speed, tracks the current position based on the track error; and generates the tracking signal based on the current position.