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awk '    
        {OFS=","};
...
                     $1,$2,$3,$4,$5,$6,$7,$8,$9,$10,$11,$12
               }
' input.txt > output.csv

VOL TEST @VCC= 4.5V, VIL=2V, VIH=5.5V
5    796    6   533.0 mV,RNG1   60.00 mA,M100                         
+  
5    801        493.0 m                             0      500.0 m    
+  
5    815    8   431.0 mV,RNG1   60.00 mA,M100                         
+  
5    820        391.0 m                             0      500.0 m

5, 796,  6,        523.0,mV,RNG1,     60.00,mA,M100,          
5, 801,483.0,            m,    0,     500.0,    m,          ,   ,  <-t
+he row closed ranks some how.      
5, 815,  8,        418.5,mV,RNG1,     60.00,mA,M100,     
5, 820,378.5,            m,    0,     500.0,    m,          ,   ,