Word Division - Word-by-word meaning

pallavi
mOsa pOku vinavE sat-
sahavAsamu viDavakE

Don’t be deceived (mOsa pOku)! Listen (vinavE)! Do not abandon (viDavakE) holy company (sat-sahavAsamu).

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anupallavi
dAsa jana-Arti haruni SrI rAmuni
vAsava hRdaya nivAsuni teliyaka (mOsa)

Don’t be deceived by failing to know (teliyaka) Lord SrI rAma (rAmuni) - Destroyer (haruni) of all problems (Arti) of devotees (dAsa jana) (janArti) and Resident (nivAsuni) of the heart (hRdaya) of indra (vAsava).
Listen! do not abandon holy company.

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caraNam
caraNam 1
alpa-ASrayamuna kalgu vesanamulu
kalpa-antaramu-aina pOdu SEsha
talpa Sayanuni nera nammitE
sankalpamu-ellanu-IDErunu manasA (mOsa)

The worries (vesanamulu) arising (kalgu) from (resorting to) petty (alpa) supports (ASrayamuna) (alpASrayamuna) will not leave (pOdu) even if many aeons (kalpa antaramu) (kalpAntaramu) pass (aina) (kalpAntaramaina);
on the other hand, if you totally (nera) (literally much) trust (nammitE) Him who reclines (Sayanuni) on the couch (talpa) of SEsha, all (ellanu) your aspirations (sankalpamu) would be fulfilled (IDErunu) (sankalpamellanIDErunu);
O My Mind (manasA)! Don’t be deceived! Listen! Do not abandon holy company.

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caraNam 2
dhana taruNulaku-ASincuTa-ella
venuka tanuvuku-alasaTE kAni
manasu cEta sEvyuni talacitE
su-mana satvamunu-osagunE manasA (mOsa)

Desiring (ASincuTa) wealth (dhana), women (taruNulaku) etc. (ella) (taruNulakASincuTella) will, later on (venuka), result only in weariness (alasaTE) for the body (tanuvuku) (tanuvukalasaTE);
on the other hand (kAni), if you mentally (manasu cEta) contemplate (talacitE) on Him, who is worthy of worship (sEvyuni), He will indeed bestow (osagunE) mental (su-mana) purity (satvamunu) (literally quality of purity) (satvamunosagunE);
O My mind (manasA)! Don’t be deceived! Listen! Do not abandon holy company.

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caraNam 3
gaurava hIna dhanikula kAcuTayu
nEramulaku-eDamaunu kAni
gAravincu tyAgarAja hRdaya-
AgAruni lOka-AdhAruni talacaka (mOsa)

Waiting (kAcuTayu) on self-respect (gaurava) less (hIna) rich (dhanikula) will give room (eDamaunu) for mistakes (nEramulaku) (nEramulakeDamaunu);
therefore (kAni), love (gAravincu) Him who abides (AgAruni) in the heart (hRdaya) (hRdayAgAruni) of this tyAgarAja;
O My mind! Don’t be deceived without thinking (talacaka) of Him who is the prop (AdhAruni) of the Worlds (lOka) (lOkAdhAruni); Listen! Do not abandon holy company.

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