On August 26, 2014 at Padma Samye Ling during the 2014 PSL Shedra Philosophy Retreat on "The Radiant Light of Sun and Moon" by Ven. Khenchen Palden Sherab Rinpoche, Ven. Khenpo Tsewang Rinpoche taught an overview of the Svatantrika and Prasangika Madhyamaka Schools, otherwise known as the Middle Way Autonomy School and the Middle Way Consequence School.
At the beginning of this video, Khenpo Tsewang Rinpoche mentions Mipham Rinpoche and the Nyingma School's division of relative truth into 1. pure relative truth and 2. impure relative truth. Pure relative truth is how enlightened beings and bodhisattvas experience phenomena, and impure relative truth is how ordinary sentient beings perceive things.
In the Nyingma tradition of Mipham Rinpoche, the Svatantrika are defined as "followers of Madhyamaka who teach by emphasizing the categorized absolute involving assertions."
According to the Svatantrikas, there are two kinds of impure relative truth: the correct and the incorrect. Correct impure relative truth refers to phenomena that are undeceiving in terms of their characteristics, i.e. able to perform their particular function. For example, fire, which is hot and burning. The incorrect impure relative includes phenomena which appear yet do not function as they appear, such as the moon’s reflection or a drawing of a lamp.
The Svatantrikas divide the absolute truth into the conceptual and nonconceptual, which can also be referred to as countable and uncountable, or categorized and uncategorized. Svatantrikas make this division to help sentient beings gradually approach the direct realization of uncategorized absolute truth beyond all conceptualization.
In the Nyingma tradition of Mipham Rinpoche, the Prasangika are defined as "followers of Madhyamaka who teach by emphasizing the uncategorized absolute that is free from all assertions." Prasangikas use consequentialist arguments (Skt. prasaṅga) to refute all relative positions and thereby establish the ultimate truth of emptiness beyond all conceptual elaboration.