In plain words
Vedic worship: this exists in four kinds — 1. Satyavatī, 2. Aṅgavatī, 3. Anyavatī, and 4. Nidānavatī.
'The Ātma, all-pervading, set [in the world] like ghee in milk' — just as ghee is mingled in milk, the very practice done with the conviction that the Ātma is [thus] all-pervading is called 'Satyavatī worship'.
'This whole world, beyond Māyā, [is pervaded] by My unmanifest form' — 'I pervade this entire [world] unmanifestly. I am not absent from the one who keeps seeing Me everywhere and all things in Me' — to that Satyavatī worship I am not absent from view. That worshipper does not remain hidden from Me' — so says Mādhava.
That Ātma of all is itself fire. The practice done with the conviction that [He is] wind, the sun, the moon (and all such things) is precisely what is called 'Aṅgavatī worship'. That wind, which, taking the form of the vital breath, is intimate to everyone, [and] the fire that kindles all things — for the vital breaths, in various