This question is actually more complicated than you would think. We are continually trying to find more and more decimals of Pi. We will never know the full value of Pi because the numbers never stop and never repeat, they go on into infinity.
We do know the first recorded value of Pi was recorded by and Egyptian scribe around 1650 B.C.E. He said "Cut off 1/9 of a diameter and construct a square upon the remainder; this has the same area as the circle." This means that the ratio of circumference to diameter is 256/81 or 3.16049...
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None. The existence of Pi was estimated by the ancient Egyptians, ancient Indians, and Babylonians many hundreds of years, B.C. The Greek philosopher, Archimedes, was later able to calculate the value of Pi using geometry to a great degree. It wasn't until 400 - 500 A.D. that Chinese mathemetician Zu Chongzhi found that 553/113 was a very accurate approximation of the value of Pi, so much so that his value held for the next 900 years.