digraph G
{
    bgcolor = "#000000";
    ranksep = 1;
    
    // Cluster options
    graph
    [
        compound = true; // Allow edges between clusters with lhead/ltail
        color = "#FFFFFF"; // Border colour
        fontcolor = "#FFFFFF";
        style = "rounded";
    ];
    
    node
    [
        shape = ellipse;
        style = filled;
        color = "#FFFFFF"; // Border colour
        fontcolor = "#FFFFFF";
        fillcolor = "#404040";
    ]
    
    edge
    [
        color = "#FFFFFF";
        fontcolor = "#FFFFFF";
    ]
    
    // Node labels
    _A354 [label = "$A354: Transition to flying"];
    _A35B [label = "$A35B: Initial"];
    _A377 [label = "$A377: Wait to fade in"];
    _A389 [label = "$A389: Fade in eye"];
    _A3DF [label = "$A3DF: Fade in body"];
    _A455 [label = "$A455: Wait to roar"];
    _A478 [label = "$A478: Roar before fly"];
    _B2F3 [label = "$B2F3: Liftoff"];
    _B321 [label = "$B321: Decide action"];
    _B3EC [label = "$B3EC: Setup"];
    _B3F8 [label = "$B3F8: Move to position"];
    _B455 [label = "$B455: Move to position"];
    _B493 [label = "$B493: Descending - aiming down"];
    _B4D1 [label = "$B4D1: Descending - aiming left"];
    _B516 [label = "$B516: Ascending - aiming up"];
    _B554 [label = "$B554: Ascending - aiming up faster"];
    _B594 [label = "$B594: Ascending - decelerate"];
    _B5E5 [label = "$B5E5: Move to wall behind Ridley"];
    _B613 [label = "$B613: Move to wall in front of Ridley"];
    _B6A7 [label = "$B6A7: Fly to position"];
    _B6DD [label = "$B6DD: Wait at position"];
    _B70E [label = "$B70E: Descending"];
    _B7B9 [label = "$B7B9: Ascending"];
    _BAB7 [label = "$BAB7: Lunge"];
    _BB8F [label = "$BB8F: Setup"];
    _BBC4 [label = "$BBC4: Rising to up to 40h px"];
    _BBF1 [label = "$BBF1: Rising to room middle"];
    _BC2E [label = "$BC2E: Release Samus"];
    _BD4E [label = "$BD4E: Dodging power bomb"];
    _C538 [label = "$C538: Dying - grabbed Samus"];
    _C53E [label = "$C53E: Death roar"];
    _C551 [label = "$C551: Move to death spot"];
    _C588 [label = "$C588: Lowering acid and release Samus"];
    _C5A8 [label = "$C5A8: Start falling apart"];
    _C5C8 [label = "$C5C8: Falling apart"];
    _C5DA [label = "$C5DA: Still falling apart"];
    
    // Conditions. From_To [... label = "condition"]
    _Start_A35B                [shape = hexagon, fillcolor = "#008000", label = "room load"];
    _Start_BAB7                [shape = hexagon, fillcolor = "#008000", label = "power bomb active and not holding Samus"];
    _C5DA_Finish               [shape = hexagon, fillcolor = "#800000", label = "dead"];
    _B321_Hover                [shape = hexagon, fillcolor = "#000000", label = "decided hover"];
    _B321_Swoop                [shape = hexagon, fillcolor = "#000000", label = "decided swoop"];
    _B321_Pogo                 [shape = hexagon, fillcolor = "#000000", label = "decided pogo"];
    _B321_Lunge                [shape = hexagon, fillcolor = "#000000", label = "decided lunge"];
    _B5E5_Pogo                 [shape = hexagon, fillcolor = "#000000", label = "not spin jumping"];
    _B70E_Pogo                 [shape = hexagon, fillcolor = "#000000", label = "cannot grab Samus"];
    _B70E_GrabbedSamus         [shape = hexagon, fillcolor = "#000000", label = "can grab Samus"];
    _B7B9_Pogo                 [shape = hexagon, fillcolor = "#000000", label = "pogo not finished"];
    _B7B9_DecideAction         [shape = hexagon, fillcolor = "#000000", label = "pogo finished"];
    _B594_DecideAction         [shape = hexagon, fillcolor = "#000000", label = "Samus is spin jumping / damage boosting"];
    _B594_Lunge                [shape = hexagon, fillcolor = "#000000", label = "Samus is not spin jumping / damage boosting"];
    _BAB7_MissedSamus          [shape = hexagon, fillcolor = "#000000", label = "lunge missed Samus"];
    _BAB7_CanGrabSamus         [shape = hexagon, fillcolor = "#000000", label = "can grab Samus"];
    _MissedSamus_DeathSequence [shape = hexagon, fillcolor = "#000000", label = "missed 10 times"];
    _MissedSamus_Dodge         [shape = hexagon, fillcolor = "#000000", label = "power bomb laid"];
    _CanGrabSamus_Dying        [shape = hexagon, fillcolor = "#000000", label = "zero health"];
    _CanGrabSamus_Dodge        [shape = hexagon, fillcolor = "#000000", label = "power bomb laid"];
    _BD4E_GrabbedSamus         [shape = hexagon, fillcolor = "#000000", label = "holding Samus"];
    _BD4E_DecideAction         [shape = hexagon, fillcolor = "#000000", label = "not holding Samus"];
    
    // Clusters (cluster is a required prefix). Edges connecting nodes within the cluster must be listed here
    subgraph cluster_Initial_Sequence
    {
        bgcolor = "#202020";
        label = "Initial sequence";
        _A35B -> _A377;
        _A377 -> _A389;
        _A389 -> _A3DF;
        _A3DF -> _A455;
        _A455 -> _A478;
        _A478 -> _A354;
        _A354 -> _B2F3;
    }
    subgraph cluster_Hover
    {
        bgcolor = "#202020";
        label = "Hover";
        _B5E5 -> _B613;
        _B613 -> _B5E5;
    }
    subgraph cluster_Swoop
    {
        bgcolor = "#202020";
        label = "Swoop";
        _B455 -> _B493;
        _B493 -> _B4D1;
        _B4D1 -> _B516;
        _B516 -> _B554;
        _B554 -> _B594;
        _B594 -> _B594_DecideAction;
        _B594 -> _B594_Lunge;
    }
    subgraph cluster_Pogo
    {
        bgcolor = "#202020";
        label = "Pogo";
        _B6A7 -> _B6DD;
        _B6DD -> _B70E;
        _B70E -> _B70E_Pogo;
        _B70E_Pogo -> _B7B9;
        _B70E -> _B70E_GrabbedSamus;
        _B7B9 -> _B7B9_Pogo;
        _B7B9_Pogo -> _B70E;
        _B7B9 -> _B7B9_DecideAction;
    }
    subgraph cluster_GrabbedSamus
    {
        bgcolor = "#202020";
        label = "Grabbed Samus";
        _BB8F -> _BBC4;
        _BBC4 -> _BBF1;
        _BBF1 -> _BC2E;
    }
    subgraph cluster_Lunge
    {
        bgcolor = "#202020";
        label = "Lunge";
        _BAB7 -> _BAB7_MissedSamus;
        _BAB7_MissedSamus -> _MissedSamus_DeathSequence;
        _BAB7_MissedSamus -> _MissedSamus_Dodge;
        _BAB7 -> _BAB7_CanGrabSamus;
        _BAB7_CanGrabSamus -> _CanGrabSamus_Dying;
        _BAB7_CanGrabSamus -> _CanGrabSamus_Dodge;
    }
    subgraph cluster_LungeMissedSamus
    {
        bgcolor = "#202020";
        label = "Lunge - missed Samus";
        _B3EC -> _B3F8;
    }
    subgraph cluster_DeathSequence
    {
        bgcolor = "#202020";
        label = "Death sequence";
        _C53E -> _C551;
        _C551 -> _C588;
        _C588 -> _C5A8;
        _C5A8 -> _C5C8;
        _C5C8 -> _C5DA;
    }
    subgraph cluster_DecideAction
    {
        bgcolor = "#202020";
        _B321 -> _B321_Hover;
        _B321 -> _B321_Swoop;
        _B321 -> _B321_Pogo;
        _B321 -> _B321_Lunge;
    }
    subgraph cluster_Dodge
    {
        bgcolor = "#202020";
        _BD4E -> _BD4E_GrabbedSamus;
        _BD4E -> _BD4E_DecideAction;
    }

    // Edges that aren't contained within a cluster //
    
    // Start/finish points
    _Start_A35B -> _A35B;
    _Start_BAB7 -> _BAB7;
    _C5DA -> _C5DA_Finish;
    
    // Liftoff
    _B2F3 -> _B321; // -> decide action
    
    // Grabbed Samus
    _B321 -> _BC2E [dir=back]; // -> decide action
    
    // Lunge - missed Samus
    _B321 -> _B3F8 [dir=back]; // -> decide action
    
    // Dying - grabbed Samus
    _C538 -> _C53E; // -> death sequence
    
    // Decide action
    _B321_Hover -> _B5E5;
    _B321_Swoop -> _B455;
    _B321_Pogo -> _B6A7;
    _B321_Lunge -> _BAB7;
    
    // Swoop
    _B321 -> _B594_DecideAction [dir=back];
    _B594_Lunge -> _BAB7;
    
    // Pogo
    _B70E_GrabbedSamus -> _BB8F;
    _B321 -> _B7B9_DecideAction [dir=back];
    
    // Hover
    _B5E5 -> _B5E5_Pogo [ltail=cluster_Hover];
    _B5E5_Pogo -> _B6A7;
    
    // Lunge
    _BAB7_CanGrabSamus -> _BB8F; // -> grabbed Samus
    _MissedSamus_DeathSequence -> _C53E;
    _MissedSamus_Dodge -> _BD4E;
    _BAB7_MissedSamus -> _B3EC; // -> lunge - missed Samus
    _CanGrabSamus_Dying -> _C538;
    _CanGrabSamus_Dodge -> _BD4E;
    
    // Dodging power bomb
    _BD4E_GrabbedSamus -> _BB8F;
    _B321 -> _BD4E_DecideAction [dir=back];
}