diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 9ed6b1c5..f6aac85b 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -178,41 +178,6 @@ void AcsController::performAttitudeControl() {
   result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                               &susDataProcessed, &attitudeEstimationData, &acsParameters);
 
-  if (not submode == acs::SafeSubmode::DETUMBLE) {
-  }
-
-  switch (detumbleState) {
-    case DetumbleState::NO_DETUMBLE:
-      if (fusedRotRateData.rotRateTotal.isValid() and
-          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
-              acsParameters.detumbleParameter.omegaDetumbleStart) {
-        detumbleCounter++;
-      } else if (detumbleCounter > 0) {
-        detumbleCounter -= 1;
-      }
-      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-        if (mode == acs::AcsMode::SAFE) {
-          detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
-          break;
-        }
-        detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
-      }
-      break;
-    case DetumbleState::DETUMBLE_FROM_PTG:
-      triggerEvent(acs::PTG_RATE_VIOLATION);
-      break;
-    case DetumbleState::DETUMBLE_FROM_SAFE:
-      detumbleCounter = 0;
-      // Triggers detumble mode transition in subsystem
-      triggerEvent(acs::SAFE_RATE_VIOLATION);
-      startTransition(mode, acs::SafeSubmode::DETUMBLE);
-      break;
-    case DetumbleState::IN_DETUMBLE:
-      break;
-    default:
-      sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl;
-  }
-
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
@@ -354,33 +319,6 @@ void AcsController::performDetumble() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
-  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (attitudeEstimationData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleEnd) {
-      detumbleCounter++;
-    }
-  } else if (acsParameters.safeModeControllerParameters.useGyr) {
-    if (gyrDataProcessed.gyrVecTot.isValid() and
-        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleEnd) {
-      detumbleCounter++;
-    }
-  } else if (fusedRotRateData.rotRateTotal.isValid() and
-             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
-                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
-    detumbleCounter++;
-  } else if (detumbleCounter > 0) {
-    detumbleCounter -= 1;
-  }
-
-  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    detumbleCounter = 0;
-    // Triggers safe mode transition in subsystem
-    triggerEvent(acs::SAFE_RATE_RECOVERY);
-    startTransition(mode, acs::SafeSubmode::DEFAULT);
-  }
-
   updateCtrlValData(safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@@ -612,6 +550,61 @@ void AcsController::performPointingCtrl() {
                    acsParameters.rwHandlingParameters.rampTime);
 }
 
+void AcsController::handleDetumbling() {
+  switch (detumbleState) {
+    case DetumbleState::NO_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
+              acsParameters.detumbleParameter.omegaDetumbleStart) {
+        detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
+      }
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        if (mode == acs::AcsMode::SAFE) {
+          detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+          break;
+        }
+        detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_PTG:
+      triggerEvent(acs::PTG_RATE_VIOLATION);
+      detumbleState = DetumbleState::PTG_TO_SAFE_TRANSITION;
+      break;
+    case DetumbleState::PTG_TO_SAFE_TRANSITION:
+      if (mode == acs::AcsMode::SAFE) {
+        detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_SAFE:
+      detumbleCounter = 0;
+      // Triggers detumble mode transition in subsystem
+      triggerEvent(acs::SAFE_RATE_VIOLATION);
+      startTransition(mode, acs::SafeSubmode::DETUMBLE);
+      break;
+    case DetumbleState::IN_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
+              acsParameters.detumbleParameter.omegaDetumbleEnd) {
+        detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
+      }
+
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        detumbleCounter = 0;
+        // Triggers safe mode transition in subsystem
+        triggerEvent(acs::RATE_RECOVERY);
+        startTransition(mode, acs::SafeSubmode::DEFAULT);
+        detumbleState = DetumbleState::NO_DETUMBLE;
+      }
+      break;
+    default:
+      sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl;
+  }
+}
+
 void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {
   if (not safeCtrlFailureFlag) {
     triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure);
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index 2d832f4f..2383c381 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -46,11 +46,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
                              uint16_t startAtIndex) override;
 
  protected:
-  void performAttitudeControl();
-  void performSafe();
-  void performDetumble();
-  void performPointingCtrl();
-
  private:
   static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
   static constexpr double ZERO_VEC3[3] = {0, 0, 0};
@@ -101,7 +96,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
   InternalState internalState = InternalState::STARTUP;
 
-  enum class DetumbleState { NO_DETUMBLE, DETUMBLE_FROM_SAFE, DETUMBLE_FROM_PTG, IN_DETUMBLE };
+  enum class DetumbleState {
+    NO_DETUMBLE,
+    DETUMBLE_FROM_PTG,
+    PTG_TO_SAFE_TRANSITION,
+    DETUMBLE_FROM_SAFE,
+    IN_DETUMBLE
+  };
   DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
 
   /** Device command IDs */
@@ -137,6 +138,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  void performAttitudeControl();
+  void performSafe();
+  void performDetumble();
+  void performPointingCtrl();
+
+  void handleDetumbling();
+
   void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
 
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,