For reading the string into a buffer you should find a lot of examples in the forum. Next then is to make substrings from your buffer using strtok() with the comma as the delimiter. The three smaller strings you can directly output via Serial.print() between the additional strings for the distance and height. Give it a try, use Serial.println() for printing debug information to the serial monitor. You definitely need some C and a bit of C++ understanding because Arduino is programmed in C++. And if you get stuck with your code then post it here.