intent on my āthmā —

is the place belonging to the head of eternally youthful nithyasūris who are in ṣrīvaikuṇtam —

the well versed, great vaidhikas (learned in vĕdhas, sacred texts) —

high abode —

superior to everything else —

since time immemorial —

those who are without any contact with materialistic aspects —

 that is above, and —

in earlier yuga (period of time) —

great servitude —

by preceptors / earlier generations —