Two minor suggestions.
Rather than
Serial.print(",");
use
Serial.print(',');
or
Serial.write(',');
And use a higher baud rate. My normal baud rate for communication with my PC is 500,000
Sending data in binary format would be a last resort for me simply because it makes the debugging more difficult.
You have not posted a complete program so we have no idea what datatypes you are using. Organize your datatypes to minimize the number of bytes (or chars) that need to be sent. If you can put all your data into an array of chars it can be sent using Serial.write() which is faster than Serial.print()
...R