Bhagavad Gita · Arjuna Vishada YogaChapter 1, Shloka 17 (1.17)

Shikhandi — named for the first time. Shikhandi is Drupada's child; according to the Mahabharata story, in a previous birth Shikhandi was Amba, who held Bhishma responsible for the ruin of her life. Bhishma had vowed that he would not raise weapons against Shikhandi. On the tenth day of the war, keeping Shikhandi in front, Arjuna brought Bhishma down. Remember — in the popular text of the Mahabharata, Sanjaya is giving this whole account after Bhishma's fall. It is worth thinking how painful it must have been for Dhritarashtra to hear Shikhandi's name in this shloka. (The shloka itself does not tell this story.)

Dhrishtadyumna — the commander. In 1.3 Duryodhana called him only "Drupada's son, your disciple". Sanjaya names him directly.

Satyaki — "aparājita". According to Madhusudana Sarasvati, Satyaki is called "aparajita" (never defeated) because he was never defeated in great battles such as the carrying-off of the Parijata and the war with Bana.

The king of Kashi — "parameshvaasa". Madhusudana: the king of Kashi, a great archer.

The form of the shloka: This shloka is the middle part of a long sentence — in Sanskrit poetry it is common for a sentence to run across more than one shloka (a style called something like yugmaka).