The Spanish Armada's coordination failure

Did the Spanish Armada fail mainly because Spain arrogantly underestimated English capability?

The central failure was coordination and communication with the invasion army the fleet needed to collect; the Armada nearly succeeded.

The Armada nearly succeeded, which makes a simple story of Spanish incompetence misleading. The fleet had to coordinate with the invasion army waiting in the Netherlands. Naval and land forces needed to meet at the right place and time, but their communications system could not reliably produce that junction. The failure therefore belongs as much to combined planning and communication as to any claim that Spain simply underestimated English capability.