There is a lightweight box available - Also an Icarus device, called the 3000U Altitude Serializer - that can take the analog encoded altitude signal and convert it to serial format, for sending to your GPS navigator and to the GPSS (it must be an Icarus SAM). I have one of these in my plane, communicating serialized altitude to a GNS 480 and to the Icarus SAM GPSS computer. You can send the altitude data to as many as four destinations (in parallel) via the serial port connection.
The SAM device takes all sorts of different inputs and criteria (CO level alerts, altitude targets, decision altitudes, GPS flight plan waypoint info, fuel status, voltage limits, etc etc etc) and can annunciate all of them both visually on the small display and audibly via the intercom system. It's very capable and (as a result) can be pretty darn complex. Once you get it working it's great, but I've had more than one avionics pro complain about how complicated it is to install and configure compared the other options. In my case, with an older Piper/Century single axis autopilot, it took a few troubleshooting sessions and finally a realization that the autopilot has to be powered on, in Heading mode on the radio coupler, and with the heading switch turned on in order to be able to calibrate the SAM computer to the DG bug. In other words, if it's not all powered on you get no signal, and therefore no GPSS setup can happen. There are also varying wiring and integration points depending on the autopilot and variations within a given model of autopilot (turns out the old Century III autpilots had lots of variation over the years in the individual components). Anyhow, like I said... Once it is set up, it's amazing.
Jeff Kauffman at Icarus is great, has a lot of knowledge about setting them up and is really helpful in the troubleshooting and autopilot-specific indiosyncracy department.