There is no such documentation -- in some ways, the file format can not be documented in a static way.
The best way to achieve a conversion to or from the *.vsp3 file format will be to use the OpenVSP API. If you want to go from VSP to CPACS, then you want to write a script that reads in a vsp3 file and then traverses that file, writing out a CPACS file.
Either way, the conversion is going to be an approximate and lossy process -- OpenVSP files will have information that CPACS is not ready to use -- or CPACS will have information that OpenVSP can not make use of. This isn't a big deal, but it is something that you will need to be prepared for.
An interesting test would be to develop the conversions in both directions -- then you should be able to take a single model and convert it round-trip. I.e. vsp3 to CPACS to vsp3 and then compare the start/end vsp3 files (similar with CPACS).
I don't know anything about their tool, but the folks at Smart-Up Engineering who make the JPAD modeler have some level of CPACS to OpenVSP conversion ability. You might contact them.
Rob