Non pretendo che funzioni a primo colpo, ma ho scritto qualche linea da cui puoi prendere spunto, modificandola dove non va ...

codice:
Private Type rec
    rpos(1 To 3) As Single
    speed As Single
    rpm As Single
    marcia As Byte
    acc As Byte
    freno As Byte
    volante As Byte
    caricoASx As Byte
    caricoADx As Byte
    caricoDSx As Byte
    caricoDDx As Byte
End Type

Private Sub Command1_Click()
    Dim ir As Long
    Dim nr As Long
    Dim r As rec
    
    Open "C:\file.bin" For Binary As #1
    Open "C:\file.txt" For Output As #2
    
    nr = (LOF(1) - 12) / LenB(r)
    Seek #1, 12
    
    For ir = 1 To nr
        Get #1, , r
        
        Print #2, rpos(1)
        Print #2, rpos(2)
        Print #2, rpos(3)
        Print #2, speed
        Print #2, rpm
        Print #2, marcia
        Print #2, acc
        Print #2, freno
        Print #2, volante
        Print #2, caricoASx
        Print #2, caricoADx
        Print #2, caricoDSx
        Print #2, caricoDDx
        Print #2, ""
    Next ir
    
    Close
End Sub