ServerQuery.php

<?php
$ip = 'ice.cosmicpe.me';
$port = 19132;

$socket = @fsockopen("udp://" . $ip, $port, $errno, $errstr, 5);

socket_set_timeout($socket, 5);
socket_set_blocking($socket, true);

@fwrite($socket, "\xFE\xFD\x09\x10\x20\x30\x40\xFF\xFF\xFF\x01");

$challenge = fread($socket, 4096);
$challenge = substr(preg_replace("/[^0-9-]/si", "", $challenge), 1);

$query = sprintf("\xFE\xFD\x00\x10\x20\x30\x40%c%c%c%c\xFF\xFF\xFF\x01", $challenge >> 24, $challenge >> 16, $challenge >> 8, $challenge >> 0);

@fwrite($socket, $query, strlen($query));

$data = fread($socket, 4096);

@fclose($socket);

$response = implode([$data]);
$response = explode("\0", $response);

$response = array_filter($response);
$response = array_values($response);

$new = [];

foreach($response as $key => &$value) {
    $value = preg_replace('/[^a-z\d _]/i', '', (string)$value);

    if($value === "player_") {
        $new['players'] = array_slice($response, $key + 1);
        break;
    }

    $next = next($response);

    $new[$value] = $next;
    unset($response[$key + 1]);
}

print_r($new);