You can get this information using SNMP. OID .126.96.36.199.4.1.254188.8.131.52.3.4 will show the number of active TCP sessions while .184.108.40.206.4.1.254220.127.116.11.3.4 shows the number of active UDP sessions. Below are the links for the PAN MIBs:
PAN-OS version 5.0: Enterprise SNMP MIB 5.0
PAN-OS version 4.0: Enterprise SNMP MIB 4.0
There are a lot of other values in the MIB you can monitor as well.
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