Daivāsura-Sampad-Vibhāga Yoga · Verse 22
एतैर्विमुक्तः कौन्तेय तमोद्वारैस्त्रिभिर्नरः | आचरत्यात्मनः श्रेयस्ततो याति परां गतिम्
etair vimuktaḥ kaunteya tamo-dvārais tribhir naraḥ | ācaraty ātmanaḥ śreyas tato yāti parāṃ gatim
Liberated from these three, oh Kaunteya, gates of darkness, the human practices what is auspicious for the Self, and then goes to the supreme destination.
The positive alternative. Etair vimuktaḥ — liberated from these three (kāma, krodha, lobha). They are tamaḥ-dvāraiḥ — gates of darkness (tamas), ignorance, confusion.
Action: ācarati — practices, performs. The object: ātmanaḥ śreyas — the auspicious, the best for the ātman. The result: parāṃ gatim — the supreme destination, the highest goal. Contrast with adhamāṃ gatim of BG 16.20.