In plain words
The poet, to the people of the world: He lay in the sea of milk that he churned; he struck down Kālanemi; he came as Rāma to help the brother of Vāli, whose nature had broken, and pierced all seven close-set trees with his arrow; and he has come to stand on Vēṅkaṭam. Reach the feet of that loving Māl, and those alone, and be saved for ever.