I am just about to complete my ArduPilot 2.6 build with a modified codebase that uses an alternative sonar device over SPI.
I have also some GSM sheilds from sparkfun that can be pressed into service to do what it is that you are wanting to. I have considerable experience with the SM5100B module in telemetry in the automotive industry as well as internet based social interactive systems (IOT).
Please feel free to PM me here or drop me an email to my private email address Peter@EmbeddedAT.com
and take a look at my website for past and current projects that I am working on and an idea of what I am able to offer as a service.