What does the beginning of Chapter 16 say about the purpose of the Guru's incarnation and his teaching methods?

According to the opening verses of Chapter 16, the Sadguru, hailed as the "King of Yogis," has taken a physical body for the altruistic purpose of helping others and uplifting the poor and lowly. The chapter also provides insight into his unique teaching style. It mentions that He sometimes dons the "cloak of ignorance" in order to impart knowledge to the ignorant. This method allows him to give "sweet instruction" without transgressing the boundaries of conventional conduct, making his wisdom accessible and effective for everyone.