योगवासिष्ठः yogavāsiṣṭhaḥ - book-3, chapter-77, verse-17

निर्जगाम सुधीरात्मा नगरात्सुप्तनागरात् ।
अटवीं विक्रमो नाम विषमां वीरचर्यया ॥ १७ ॥

nirjagāma sudhīrātmā nagarātsuptanāgarāt ,
aṭavīṃ vikramo nāma viṣamāṃ vīracaryayā 17

17. nirjagāma sudhīrātmā nagarāt suptanāgarāt
aṭavīm vikramaḥ nāma viṣamām vīracaryayā

17. vikramaḥ nāma sudhīrātmā (bhūpālaḥ) mantriṇā saha
suptanāgarāt nagarāt viṣamām aṭavīm vīracaryayā nirjagāma

17. King Vikrama, a very courageous (ātman) individual, along with his minister, departed from the city where the citizens were asleep, embarking on a heroic adventure into a formidable forest.

Words meanings summery:

• निर्जगाम (nirjagāma) - departed (departed, went forth)

• सुधीरात्मा (sudhīrātmā) - a very courageous (ātman) individual (having a very firm (ātman) spirit, resolute, courageous)

• नगरात् (nagarāt) - from the city

• सुप्तनागरात् (suptanāgarāt) - from the city where the citizens were asleep (from where the citizens are sleeping, from the city of sleeping citizens)

• अटवीम् (aṭavīm) - to a forest (to the forest)

• विक्रमः (vikramaḥ) - Vikrama (Vikrama (proper name), valor, powerful step)

• नाम (nāma) - named (by name, named, indeed)

• विषमाम् (viṣamām) - formidable (difficult, uneven, formidable)

• वीरचर्यया (vīracaryayā) - by heroic conduct (by heroic conduct, by a warrior's deed)

Words meanings and morphology

निर्जगाम (nirjagāma) - departed (departed, went forth)

(verb)

3rd person , singular, active, past perfect (lit) of gam

Perfect (Lit) form

root gam with prefix nir, perfect 3rd singular

Prefix: nir

Root: gam (class 1)

Note: Verb for the king's action.

सुधीरात्मा (sudhīrātmā) - a very courageous (ātman) individual (having a very firm (ātman) spirit, resolute, courageous)

(adjective)

Nominative, masculine, singular of sudhīrātman

sudhīrātman - one whose self/spirit (ātman) is very firm/courageous

Compound type : bahuvrihi (su+dhīra+ātman)

• su – good, excellent, well
  indeclinable
• dhīra – firm, steady, courageous, wise
  adjective (masculine)
• ātman – self, soul, spirit, essence
  noun (masculine)

Note: Refers to the king.

नगरात् (nagarāt) - from the city

(noun)

Ablative, neuter, singular of nagara

nagara - city, town

Note: Source of departure.

सुप्तनागरात् (suptanāgarāt) - from the city where the citizens were asleep (from where the citizens are sleeping, from the city of sleeping citizens)

(adjective)

Ablative, neuter, singular of suptanāgara

suptanāgara - having sleeping citizens

Compound type : bahuvrihi (supta+nāgara)

• supta – slept, sleeping
  adjective (neuter)
  Past Passive Participle
  from root svap
  Root: svap (class 1)
• nāgara – citizen, urban
  noun (masculine)

Note: Modifies 'nagarāt'.

अटवीम् (aṭavīm) - to a forest (to the forest)

(noun)

Accusative, feminine, singular of aṭavī

aṭavī - forest, wilderness

Note: Destination of departure.

विक्रमः (vikramaḥ) - Vikrama (Vikrama (proper name), valor, powerful step)

(proper noun)

Nominative, masculine, singular of vikrama

vikrama - valor, courage, a name of a king

Prefix: vi

Root: kram (class 1)

Note: The subject of the verb.

नाम (nāma) - named (by name, named, indeed)

(indeclinable)

विषमाम् (viṣamām) - formidable (difficult, uneven, formidable)

(adjective)

Accusative, feminine, singular of viṣama

viṣama - uneven, difficult, formidable, dangerous

Note: Modifies 'aṭavīm'.

वीरचर्यया (vīracaryayā) - by heroic conduct (by heroic conduct, by a warrior's deed)

(noun)

Instrumental, feminine, singular of vīracaryā

vīracaryā - heroic conduct, valorous deed

Compound type : tatpurusha (vīra+caryā)

• vīra – hero, warrior, brave
  noun (masculine)
• caryā – conduct, action, practice
  noun (feminine)
  Root: car (class 1)

Note: Indicates the manner of departure.