#!/usr/bin/perl

use strict;

my $data_1 = <<EOF;
ID Catg_ID Pos
12 A 16
15 B 5
16 A 175
EOF

my %record;
open( my $file_1, "<", \$data_1 )
  or die "Cannot open data_1\n";

while (<$file_1>) {
    next if ( /^ID/ );
    s/(\d+)\s//;
    $record{$1} = [ split ];
}

while (<DATA>) {
    next if ( /^Catg/ );
    my @cols = split;
    for my $i ( keys %record ) {
        print "$i $cols[0] $record{$i}->[1] $cols[3]\n"
          if (( $record{$i}->[0] eq $cols[0] )
          && ( $record{$i}->[1] > $cols[1] )
          && ( $record{$i}->[1] < $cols[2] ))
    }
}
__DATA__
Catg_Name Start Stop Name
A 8 19 jamm
A 110 112 bbc
E 170 256 vadd
A 14 18 cip