We investigate the Witsenhausen counterexample in a continuous vector-valued context with a causal encoder and noncausal decoder. Our main result is the optimal single-letter condition that characterizes the set of achievable Witsenhausen power costs and estimation costs, leveraging a modified weak typicality approach. In particular, we accommodate our power analysis to the causal encoder constraint, and provide an improved distortion error analysis for the challenging estimation of the interim state. Interestingly, the idea of dual role of control is explicitly captured by the two auxiliary random variables.