Sending SMS using IP

I was able to send an SMS using AT commands using SSH into the Airlink MP70. I would like to be able to send SMS using TCP or UDP to the Airlink modem from a server connected through ethernet. How can I do this? I don’t see anything in the Aleos software guide, although articles like this one indicate that it can be done with the Airlink IP protocol
https://source.sierrawireless.com/resources/airlink/forum_topics_and_questions/how-to-test-sending-sms-messages-with-airlink-ip-protocol/