What are the primary qualities and purpose of the Sadguru as described in the opening verses of Chapter 16?

The introductory verses of Chapter 16 praise the Sadguru as the 'King of Yogis' and the 'Idol seated on the throne of peace.' He is described as stainless (Niranjana), imperishable (Avyaya), and beyond attributes (Gunatita). In his presence, the six enemies like lust and anger cannot survive. His speech is like nectar from the ocean of Vedanta. Most importantly, Chapter 16 states that the Sadguru has taken a physical body not for his own sake, but for the altruistic purpose of helping others and uplifting the poor and the lowly, demonstrating his compassionate nature.