awk '
BEGIN           {HD[++HDCNT]  = "InsertTime"
                 HD[++HDCNT]  = "DocID"
                }

/^#col/         {FS = "\047"
                 $0 = $0
                 for (i=2; i<NF; i+=2)  {gsub (" ", "_", $i)
                                         if (!($i in X))        {X[$i]
                                                                 HD[++HDCNT] = $i
                                                                }
                                        }
                 FS = " "
                 $0 = $0
                 RW[++RCNT] = $0
                }

/^#/       ||
/^ *$/     ||
/^.DocID/       {next
                }

/^Inse/         {gsub (/(^| )[^ :]*:/, " ")
                 INS = $1
                 DOC = $2
                 next
                }

                {gsub (/\047/, "")
                 LN[RCNT,++LCNT[RCNT]] = INS FS DOC FS $0
                }


END             {for (i=1; i<HDCNT; i++) printf "%s|", HD[i]
                 printf "%s%s", HD[HDCNT], ORS
                 OFS = "|"
                 for (r=1; r<=RCNT; r++)
                        {delete COL 
                         COL[1] = 1
                         COL[2] = 2
                         n = split (RW[r], T)
                         for (i=2; i<=n; i++) for (j=3; j<=HDCNT; j++) if (T[i] == HD[j]) COL[i+1] = j
                         for (l=1; l<=LCNT[r]; l++)
                                {n = split (LN[r,l], T)
                                 $0 = ""
                                 for (i=1; i<=n; i++) $(COL[i]) = T[i]
                                 $HDCNT = $HDCNT
                                 print
                                }
                        }
                }
'  file
InsertTime|DocID|TargetDoc|GRank|LRank|Priority|Loc_ID|Rank|Check_Name
201604070523|101|aaaaa|1|1|Slow|8gkahinka.01||
201604070523|101|aaaaa|1|0|Slow|7nlafnjbaflnbja.01||
201604070523|102|aa||||8gkahinka.01|1|xyz
201604070523|102|aax||||7nlafnjbaflnbja.01|1|none
201604070750|101|xxxx|1|1|Slow|bjkkacka.01||
201604070750|101|yyyy|1|0|Slow|jiafjklas.001||