Practice, practice, practice... Drive it like a non-synchro'd transmission (use the throttle to match gear speed while passing through neutral), but still use the clutch as not to burn up the synchros.
The Cummins has more rotational inertia than the old 7. 3 you have listed, so not having the engine rpm an exact match to the drivetrain when you let out the clutch will be noticed, unlike lighter engines where you can skate by.
BINGO - We have a winner! Oo.
Easy way to figure out what your RPM's need to be is;
1. Find a road you can drive on with no other traffic to get in your way, or you get in theirs.
2. Start off in 1st gear, run up to 2500rpm, note your speed.
3. Shift to 2nd gear and match the speed in step 2, note your RPM.
4. Repeat steps 2 and 3 for each gear.
Example - (I'm fairly sure the RPMs between gears is much lower, I just chose these numbers for easy math)
1st gear, 2500 RPM = 10 mph
2nd gear 10 mph = 1000 rpm
1500 RPM between 1st and 2nd at any given speed.
2nd gear at 2500 = 20 mph
3rd gear at 20 mph = 1000 rpm
1500 RPM between 2nd and 3rd at any given speed
3rd gear to 2500 RPM = 35 mph
4th gear to 35 mph = 800 rpm
1700 RPM between 3rd and 4th at any given speed
Etc.
So when you shift up to the next gear, reduce the engine RPM (or increase RPM for down shifting) approximately the RPM difference between the two gears. READ - Don't just let off the throttle completely (return to idle) while shifting.
Eventually you will learn to hear what the engine sounds like when it is time to shift, and muscle memory will hold the throttle at the correct position for a smooth transition.