Converting group lines from format A to Format B

Convert from one format to another

Input

ABCDEFGHIJKL        00100     C                    N12345678W1234567891234       GND   99999MMY LITTLE TEST                000000000
ABCDEFGHIJKL        00100     H N12345678W123456789                              GND   99999MANOTHER LITTLE TEST           000000000
ABCDEFGHIJKL        00200     L N12345678W123456789N12345678W12345678912341234                                             000000000
ABCDEFGHIJKL        00300     G N12345678W123456789

Output

0010|C|||N12345678|W123456789|123.4
0010|H|N12345678|W123456789||
0020|L|N12345678|W123456789|N12345678|W123456789|123.4|123.4
0030|G|N12345678|W123456789||