#!/bin/awk
{
   count=ind=1
   chapters[ind]=$1
   for(i=2;i<=NF;i++){
      if($i>$count)
         chapters[ind]=chapters[ind]" "$i
      else
         chapters[++ind]=$i
      count++
   }
   for(chapter in chapters)
      printf"Chapter%d: %s\n",chapter,chapters[chapter]
}

Example:
[%] awk -f script <<< "30 33.993 76.123 0.6 43.234 87.234 130.345"
Chapter1: 30 33.993 76.123
Chapter2: 0.6 43.234 87.234 130.345