collective coordination: in complete control

(1ftil2dtilpl5dtijplC,10)C2Ade1A(dtlll,10)zZA5rv5Aqdedt(k,32)(j,20)dt(l,40)dt(j,80)dt(k,32)(l,20)dt(l,40)Adt(l,80)(k,64)dt(i,64)(i,32)(l,20)dt(i,64)(j,80)zZ5Arfx1A((R2R1,23),15)5Rv1AS(l,10)1At(i,10)fxvKKKlllmjjjjiii