Configurations of a single semiflexible polymer is studied when it is pushed into a nanochannel in the case where the polymer persistence length l_{p} is much longer than the channel diameter D:l_{p}/D≫1. Using numerical simulations, we show that the polymer undergoes a sequence of recurring structural transitions upon longitudinal compression: random deflection along the channel, a helix going around the channel wall, double-fold random deflection, double-fold helix, etc. We find that the helix transition can be understood as buckling of deflection segments, and the initial helix formation takes place at very small compression with no appreciable weak compression regime of the random deflection polymer.