In all states, through yoga, remaining in the center between the real and the unreal of the mind, established in Brahman at will, he attains dissolution, without a doubt.

This verse describes the mastery of the accomplished yogi.Sarvāvasthāsu — in all states: wakefulness, sleep, deep sleep, and the fourth state (turīya).The yogi maintains yogic consciousness through all conditions.

Sadasacittamadhyagaḥ — remaining in the center between the real (sat) and the unreal (asat) of the mind.This “center” is the point of witness that is not identified with any mental content, whether true or false, pleasant or painful.It is the position of perfect equanimity.

Yatheṣṭam — at will, as desired.The yogi can enter absorption in Brahman whenever he wants, it does not depend on favorable circumstances.Na sandehaḥ — without a doubt — emphasizes the certainty of this achievement for one who practices correctly.The Bihar School points out that this freedom to enter and leave samādhi at will distinguishes the master from the beginner, who is still dependent on specific external and internal conditions.