It seems though, that OP's attempt to kill sipdroid will be
thwarted,as it self restarts immediately ( with
a new PID). Still, sipdroid is open source, so the Locale plugin API
could be added to it :-)
Also, if anyone else is using Tasker with the otherwise excellent
Execute plugin, to save your script you need to press Menu, and then
the third (rightmost) of the inexplicably blank buttons. The middle is
cancel, and the leftmost I believe is help, although that doesn't
seem to work. see
http://elmicha.de/app/LocaleExecute/plugin-help.html
for help.