For 2 additional steps, you can avoid using the second glass completely! (because who wants to wash that many cups?)
B1: 800, B2: 800, G: 0 | A: 0, B: 0, C: 0, D: 0: starting (step 00)
B1: 500, B2: 800, G: 300 | A: 0, B: 0, C: 0, D: 0: B1 to G (step 01)
B1: 500, B2: 800, G: 0 | A: 300, B: 0, C: 0, D: 0: G to A (step 02)
B1: 200, B2: 800, G: 300 | A: 300, B: 0, C: 0, D: 0: B1 to G (step 03)
B1: 0, B2: 800, G: 300 | A: 300, B: 200, C: 0, D: 0: B1 to B (step 04)
B1: 300, B2: 800, G: 0 | A: 300, B: 200, C: 0, D: 0: G to B1 (step 05)
B1: 300, B2: 500, G: 300 | A: 300, B: 200, C: 0, D: 0: B2 to G (step 06)
B1: 600, B2: 500, G: 0 | A: 300, B: 200, C: 0, D: 0: G to B1 (step 07)
B1: 600, B2: 200, G: 300 | A: 300, B: 200, C: 0, D: 0: B2 to G (step 08)
B1: 800, B2: 200, G: 100 | A: 300, B: 200, C: 0, D: 0: G to B1 (step 09)
B1: 800, B2: 200, G: 0 | A: 400, B: 200, C: 0, D: 0: G to A (step 10)
B1: 500, B2: 200, G: 300 | A: 400, B: 200, C: 0, D: 0: B1 to G (step 11)
B1: 0, B2: 700, G: 300 | A: 400, B: 200, C: 0, D: 0: B1 to B2 (step 12)
B1: 300, B2: 700, G: 0 | A: 400, B: 200, C: 0, D: 0: G to B1 (step 13)
B1: 300, B2: 400, G: 300 | A: 400, B: 200, C: 0, D: 0: B2 to G (step 14)
B1: 600, B2: 400, G: 0 | A: 400, B: 200, C: 0, D: 0: G to B1 (step 15)
B1: 600, B2: 100, G: 300 | A: 400, B: 200, C: 0, D: 0: B2 to G (step 16)
B1: 800, B2: 100, G: 100 | A: 400, B: 200, C: 0, D: 0: G to B1 (step 17)
B1: 800, B2: 0, G: 100 | A: 400, B: 200, C: 100, D: 0: B2 to C (step 18)
B1: 800, B2: 0, G: 0 | A: 400, B: 200, C: 100, D: 100: G to D (step 19)
B1: 500, B2: 0, G: 300 | A: 400, B: 200, C: 100, D: 100: B1 to G (step 20)
B1: 500, B2: 0, G: 0 | A: 400, B: 200, C: 400, D: 100: G to C (step 21)
B1: 200, B2: 0, G: 300 | A: 400, B: 200, C: 400, D: 100: B1 to G (step 22)
B1: 0, B2: 0, G: 300 | A: 400, B: 400, C: 400, D: 100: B1 to B (step 23)
B1: 0, B2: 0, G: 0 | A: 400, B: 400, C: 400, D: 400: G to D (step 24)