Finding gaps in sequential numbers

With awk :

awk '$1!=p+1{print p+1"-"$1-1}{p=$1}' file.txt

explanations

• $1 is the first column from current input line
• p is the previous value of the last line
• so ($1!=p+1) is a condition : if $1 is different than previous value +1, then :
• this part is executed : {print p+1 "-" $1-1} : print previous value +1, the - character and fist columns + 1
• {p=$1} is executed for each lines : p is assigned to the current 1st column