As a translater of classic Sankskrit texts, one of my measures of a good translation is whether or not the translator leaves the grammar and meaning alone in their translation, while remaining easily readable and delivering the feelings of the original. Swarupananda accomplishes this with disarming ease. Of the ten or so Bhagavad Gita's I have studied I would not trade any for this one (including my own translation).
The commentary is certainly not outstanding, but the verses are so well-rendered that it makes this my 'desert island' choice. For further commentary I would reccomend the Jnanaishvari or Shankara's commetnary, or listening to your own heart.
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