  We present the first spectroscopic measurements of the ATLAS and Aliqa Uma
streams from the Southern Stellar Stream Spectroscopic Survey ($S^5$), in
combination with the photometric data from the Dark Energy Survey and
astrometric data from $Gaia$. From the coherence of spectroscopic members in
radial velocity and proper motion, we find out that these two systems are
extremely likely to be one stream with discontinuity in morphology and density
on the sky (the "kink" feature). We refer to this entire stream as the
ATLAS-Aliqa Uma stream, or the AAU stream. We perform a comprehensive
exploration of the effect of baryonic substructures and find that only an
encounter with the Sagittarius dwarf $\sim 0.5$ Gyr ago can create a feature
similar to the observed "kink". In addition, we also identify two gaps in the
ATLAS component associated with the broadening in the stream width (the
"broadening" feature). These gaps have likely been created by small mass
perturbers, such as dark matter halos, as the AAU stream is the most distant
cold stream known with severe variations in both the stream surface density and
the stream track on the sky. With the stream track, stream distance and
kinematic information, we determine the orbit of the AAU stream and find that
it has been affected by the Large Magellanic Cloud, resulting in a misalignment
between the proper motion and stream track. Together with the Orphan-Chenab
Stream, AAU is the second stream pair that has been found to be a single stream
separated into two segments by external perturbation.
