use strict;
use warnings;
use 5.010;

while (<DATA>) {
    # skip separator lines
    next if /^----/;

    my @columns = split /\s*\|\s*/;

    # remove leading space
    $columns[0] =~ s/^\s+//;

    # now do something with @columns
    # you'll want to do something else here, not just
    # printing to the console
    say join ',', @columns;
}

__DATA__
------|----------|--------|-------------------------|--------|
 S.No | TimeStamp| UE-Name| Test-Config             | UL/DL  |
------|----------|--------|-------------------------|--------|
 1    | 18:24:38 | -NA-   | Sanity_001_0001_10_00   | System |
------|----------|--------|-------------------------|--------|
 2    | 18:31:34 | ueh1   | Sanity_002_0002_00_11   | UL     |
------|----------|--------|-------------------------|--------|
 3    | 18:23:48 | ueh1   | Sanity_003_0003_06_09   | UL     |
------|----------|--------|-------------------------|--------|
 3    | 18:23:48 | ueh1   | Sanity_003_0003_06_09   | DL     |
------|----------|--------|-------------------------|--------|
 4    | 18:38:30 | ueh1   | Sanity_004_0004_24_00   | DL     |
------|----------|--------|-------------------------|--------|
 5    |  -NA-    | -NA-   | Sanity_001_0001_10_00   | System |
------|----------|--------|-------------------------|--------|
 6    | 18:31:34 | ueh2   | Sanity_002_0002_00_11   | UL     |
------|----------|--------|-------------------------|--------|
 7    | 18:23:49 | ueh2   | Sanity_003_0003_06_09   | UL     |
------|----------|--------|-------------------------|--------|
 7    | 18:23:48 | ueh2   | Sanity_003_0003_06_09   | DL     |
------|----------|--------|-------------------------|--------|
 8    | 18:38:30 | ueh2   | Sanity_004_0004_24_00   | DL     |
------|----------|--------|-------------------------|--------|