Abstract: An optical disk drive for determining a disk characteristic of an optical disk comprising an information layer comprising a substantially circular track is described. The optical disk drive has an optical pickup unit arranged to generate a beam, direct the beam to the optical disk for forming an incident beam, sense a reflected beam produced by the optical disk with a sensor upon receiving the incident beam with the sensor, produce a sensor output signal from sensing the reflected beam; a disk receiving device arranged to receive the optical disk; a motor arranged to provide a transition of the disk receiving device from a first mode to a second mode in at least one transition phase; and a controller arranged to receive the sensor output signal during at least one part of the at least one transition phase and perform at least part of determining the disk characteristic from at least the sensor output signal received during the at least one part of the at least one transition phase.