text file from VICON

I need to import numeric data from a .txt file. The file is structured in 4 blocks (one below each other) and each with different number of columns. Each column in each block has its own header. I also need to read the headers to be used as the names for the variables extracted. Anybody can help me with this?. Regards. Ed.

example: Devices null null null 1000 null null null Cometa EMG - Voltage Frame Sub Frame Spare_1 Spare_2 V V 1 0 2.74582 3.26752 1 1 2.66235 3.26279 1 2 2.59674 3.26218 1 3 2.52457 3.26447 1 4 2.45636 3.20053

Joints 200 M10:Head_Head_End Frame Sub Frame 59926 0 2.6442 -2.23206 -0.017395 59926 1 2.56897 -2.16293 -0.0180054 59926 2 2.50092 -2.09702 -0.0204468 59926 3 2.43149 -2.03033 -0.0204468 59926 4 2.36526 -1.96457 -0.027771 59927 0 2.29431 -1.9136 -0.0183105