Hi @zonit -
Other folks may be able to provide feedback on your modification of ArduSub - however I have an alternative suggestion that may be much easier in general!
If you use the sensor in serial UART mode, you can receive the data on a Navigator serial port and @kurt_bluerobotics 's (in progress) guide on setting things up with node-red may be helpful. Once you have the data in nodered, it is possible to display in a Cockpit widget - we’ll have a guide published next week on how to make this final connection - stay tuned!