jaigisavya—of the great rsi named Jaigisavya; upadesena—by the instruction; yoga-tantram—an elaborate description of the mystic yoga system; cakara—compiled; ha—in the past; udaksenah—Udaksena; tatah—from him (Visvaksena); tasmat—from him (Udaksena); bhallatah—a son named Bhallata; barhadisavah—(all of these are known as) descendants of Brhadisu.