5kPa is about 51 cmH2O, see if this works. Watch the ADC value and set variable "offset" correctly if it's not 102 @ 0 pressure.
void setup()
{
Serial.begin(9600);
}
void loop()
{
int val, // ADC value
offset = 102, // ADC value @ 0 pressure
adcMax = 921, // ADC value @ 5kPa (51 cmH2O)
span = adcMax - offset; // 819 here
val = analogRead(A0);
Serial.print(val); Serial.print("\t");
val -= offset;
float pressure = val * 51.0 / span;
Serial.println(pressure,1); // cmH2O
delay(2000);
}