Complex sentence: Visakhapatnam's history stretches back to the 6th century BCE, when it was considered a part of the Kalinga Kingdom, and later ruled by the Vengi, the Pallava and Eastern Ganga dynasties.
Split into simpler sentences: Visakhapatnam's history stretches back to the 6th century BCE. Historically, it was considered part of the Kalinga ancient region, and later ruled by the Vengi kingdom, the Pallava and Eastern Ganga dynasties.