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Note that this diagram deliberately uses a heavily relational diagramming approach and deliberately show most of the sample in one View. It is a clear candidate for Divide & Conquer strategies!
Dr Darren reassures you:
BTW: It is not clear when
Clearly I have special reasons for some additional fiddling and "futzing" with some very challenging SysML diagrams, you don't have to go to quite this length to communicate well with your stakeholders (and consider also for cases like this one a more compartment oriented). If you do want to do some engineering art I'd suggest prefer playing around with Wolfram Mathematica or Blender 3D.
That said, it's amazing what you can graphically with Cameo and it is rather gratifying, perhaps even addictive.
Showing relationships can really help YOU as modeller trace through a complex model, but you can always create two versions, a heavily relational version (requiring fluency with the SysMLv2 relationship symbols) and another more compartment oriented one for your colleagues.
BTW: It is not clear when
controller states is «parallel» when it only has one substate.