What does Chapter 16 reveal about why a Sadguru like Sai Baba takes on a human form?

According to the text of Chapter 16, a Sadguru is inherently a 'King of Yogis' who is beyond attributes (Gunatita) and imperishable (Avyaya). The chapter explicitly states that He has taken a physical body for a specific, compassionate purpose: 'for the sake of helping others, to uplift the poor and lowly.' It further explains that although He is an 'ocean of Truth, Consciousness, and Bliss,' He dons the 'cloak of ignorance' in order to impart knowledge to the ignorant. As Chapter 16 illustrates, His incarnation is a selfless act to guide humanity by providing sweet instruction without transgressing the boundaries of proper conduct.