Complete reducibility in good characteristic

Let $ G$ be a simple algebraic group of exceptional type, over an algebraically closed field of characteristic $ p \ge 0$. A closed subgroup $ H$ of $ G$ is called $ G$-completely reducible ($ G$-cr) if whenever $ H$ is contained in a parabolic subgroup $ P$ of $ G$, it is contained in a Levi subgroup of $ P$. In this paper we determine the $ G$-conjugacy classes of non-$ G$-cr simple connected subgroups of $ G$ when $ p$ is good for $ G$. For each such subgroup $ X$, we determine the action of $ X$ on the adjoint module $ L(G)$ and the connected centraliser of $ X$ in $ G$. As a consequence we classify all non-$ G$-cr connected reductive subgroups of $ G$, and determine their connected centralisers. We also classify the subgroups of $ G$ which are maximal among connected reductive subgroups, but not maximal among all connected subgroups