filename = "file.txt"
nrows = sum(1 for line in open(filename)) # nrows in the file
ncols = 4 # no. of cols.

idata = np.empty((nrows, ncols), dtype=np.float32) # np array to extract the data
i = 0
chunks = pd.read_csv(filename, chunksize=10000,
                     names=['ch', 'tmstp', 'lt', 'rt'])
# chunks is the complete bulk and each chunk (10,000x4)
for chunk in chunks:
    m, _ = chunk.shape # m = 10,000
    idata[i:i+m, :] = chunk # chunk dataframe => np array idata
    i += m
print(idata) # contains all read data from file.txt