What does Chapter 16 reveal about the Sadguru's essential nature and the reason for His physical incarnation?

The initial verses of Chapter 16 describe the Sadguru's essential nature as transcendent and absolute. He is called the "Stainless (Niranjana), the Imperishable (Avyaya), the One beyond attributes (Gunatita), the King of Yogis." He is also referred to as an "ocean of Truth, Consciousness, and Bliss." Despite this formless, perfect nature, Chapter 16 explains the very specific reason for His physical form: "You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights the Guru's profound compassion in taking a human form to guide and elevate humanity.