First, you need to make pivot table as follows.
You can test here http://www.sqlfiddle.com/#!2/d62d4/3
SELECT x.id, x.abholdatum, x.abholzeit AS from_ts, y.abholzeit AS to_ts
FROM (
SELECT @seq := @seq + 1 AS ord, id, abholdatum, abholzeit
FROM tbl, (SELECT @seq := 0) init
ORDER BY abholzeit
) x LEFT JOIN (
SELECT @seq2 := @seq2 + 1 AS ord, id, abholdatum, abholzeit
FROM tbl, (SELECT @seq2 := 0) init
ORDER BY abholzeit
) y ON x.ord = y.ord - 1;
+------+------------+----------+----------+
| id | abholdatum | from_ts | to_ts |
+------+------------+----------+----------+
| 1 | 2014-02-03 | 03:35:00 | 05:10:00 |
| 3 | 2014-02-03 | 05:10:00 | 08:30:00 |
| 2 | 2014-02-03 | 08:30:00 | 11:50:00 |
| 5 | 2014-02-03 | 11:50:00 | 15:25:00 |
| 4 | 2014-02-03 | 15:25:00 | NULL |
+------+------------+----------+----------+
5 rows in set (0.00 sec)
Second, Let's calculate difference of time fields.
SELECT x.id, x.abholdatum, x.abholzeit AS from_ts, y.abholzeit AS to_ts,
TO_SECONDS(CONCAT(x.abholdatum, ' ', y.abholzeit)) - TO_SECONDS(CONCAT(x.abholdatum, ' ', x.abholzeit)) AS diff_ts
FROM (
SELECT @seq := @seq + 1 AS ord, id, abholdatum, abholzeit
FROM tbl, (SELECT @seq := 0) init
ORDER BY abholzeit
) x LEFT JOIN (
SELECT @seq2 := @seq2 + 1 AS ord, id, abholdatum, abholzeit
FROM tbl, (SELECT @seq2 := 0) init
ORDER BY abholzeit
) y ON x.ord = y.ord - 1;
+------+------------+----------+----------+---------+
| id | abholdatum | from_ts | to_ts | diff_ts |
+------+------------+----------+----------+---------+
| 1 | 2014-02-03 | 03:35:00 | 05:10:00 | 5700 |
| 3 | 2014-02-03 | 05:10:00 | 08:30:00 | 12000 |
| 2 | 2014-02-03 | 08:30:00 | 11:50:00 | 12000 |
| 5 | 2014-02-03 | 11:50:00 | 15:25:00 | 12900 |
| 4 | 2014-02-03 | 15:25:00 | NULL | NULL |
+------+------------+----------+----------+---------+
5 rows in set (0.00 sec)