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Meaning - Gist
O Handsome son of King daSaratha! O Lotus Eyed! O Most Compassionate Lord! O Lord who bestows welfare! O Lord who has stolen the heart of Lord Siva! O Lord who causes auspiciousness! O Lord with a blemish-less face! O Ocean of motive-less Compassion who protects this tyAgarAja!

I pay obeisance to You.
Beholding sItA in Your lap, I pay obeisance to You.
Beholding Your brother bharata melting in the heart, holding an umbrella in his hand, I pay obeisance to You.
Beholding the virtuous AnjanEya and (monkey chiefs) gavaya and gavAksha serve You, I pay obeisance to You.
Beholding sages agastya, vasishTha, mArkaNDEya, gautama and others extol You, I pay obeisance to You.

Word Division - Word-by-word meaning

pallavi
sundara daSaratha nandana vandanamu-onarincedarA

O Handsome (sundara) son (nandana) of King daSaratha! I pay (onarinceda) obeisance (vandanamu) (vandanamonarincedarA) to You.

caraNam
caraNam 1
pankaja lOcana dharajA-ankamuna velungaga kani (sundara)

O Lotus (pankaja) Eyed (lOcana)! Beholding (kani) sItA – daughter of Earth (dharajA) shining (velungaga) in Your lap (ankamuna) (dharajAyankamuna),
O Handsome son of King daSaratha! I pay obeisance to You.

caraNam 2
parama dayA-kara Subha-kara giriSa manOhara Sankara (sundara)

O Most (parama) Compassionate (dayA-kara) Lord! O Lord who bestows welfare (Subha-kara)! O Lord who has stolen (hara) the heart (manas) (manOhara) of Lord Siva – the Lord of Mountains (giriSa)! O Lord who causes auspiciousness (SaM kara) (Sankara)!
O Handsome son of King daSaratha! I pay obeisance to You.

caraNam 3
karamuna goDugu-iDukoni sOdaru bharatuDu karagaga kani (sundara)

Beholding (kani) Your brother (sOdaru) bharata (bharatuDu) melting (karagaga) in the heart, holding (iDukoni) an umbrella (goDugu) (goDugiDukoni) in his hand (karamuna),
O Handsome son of King daSaratha! I pay obeisance to You.

caraNam 4
suguNuDu-anila tanayuDu gavaya gavAkshulu koluvaga kani (sundara)

Beholding (kani) the virtuous One (suguNuDu), AnjanEya – son (tanayuDu) of Wind God (anila) (suguNuDanila) - and (monkey chiefs) gavaya and gavAksha (gavAkshulu) serve (koluvaga) You,
O Handsome son of King daSaratha! I pay obeisance to You.

caraNam 5
ghaTaja vasishTha mRkaNDuja gautama-Adulu pogaDa kani (sundara)

Beholding (kani) sages agastya – born of pitcher (ghaTaja), vasishTha, mArkaNDEya – son of mRkaNDu (mRkaNDuja), gautama and others (Adulu) (gautamAdulu) extol (pogaDa) You,
O Handsome son of King daSaratha! I pay obeisance to You.

caraNam 6
akaLanka mukha tyAgarAjunu brOcina avyAja karuNA sAgara (sundara)

O Lord with a blemish-less (akaLanka) face (mukha)! O Ocean (sAgara) of motive-less (avyAja) Compassion (karuNA) who protects (brOcina) this tyAgarAja (tyAgarAjunu)!
O Handsome son of King daSaratha! I pay obeisance to You.

Notes

Variations - (Pathanthara)
⁴ – tyAgarAjunu – tyAgarAjuni.

References
² – gavaya and gavAksha – Two monkey chiefs. In rAmESvara, there are two sacred bathing spots (tIrtha) by the name of - gavaya - gavAksha

⁵ – avyAja karuNA - Please refer to names the Mother - ‘panca kRtya parAyaNa’ and ‘avyAja karuNA mUrti’ in the lalitA sahasra nAmaM. The Five-fold actions - projection (sRshTi), sustenance (sthiti) dissolution (laya), concealment (tirOdAna), beatitude (anugraha) are done spontaneously and no motives whatsoever can be attributed to the Lord.

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Comments
¹ – giriSa – This being a Sanskrit word, it should be rendered as girISa (giri + ISa); however, as per Telugu Dictionary ‘giriSuDu’ (without elongating ‘i’) means Lord Siva.

³ – akaLanka mukha – blemish-less faced. Everywhere SrI tyAgarAja has described Lord as 'moon faced'. But moon has blemishes on its face. Therefore, here he clarifies that, though the Lord is moon faced, He is not having the blemishes.
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sundara daSaratha- rAga kApi