You need to set your WiFi, 4g to always on. When your screen shuts off it is turning off your internet. To do this go to settings, WiFi settings, then press your menu button, press advanced, select WiFi sleep policy and select never. Your settings may differ somewhat what the idea is the same. Bottom line is set your internet to always on and you won't have a problem. I think sipdroid gives you the option to adjust those settings as well.
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You can also try using udp instead of tcp. I have tmobile and always had a problem using tcp. When I used udp I kept connected. Have you tried both tcp and udp? Another suggestion is to use groove ip which is not a free app or talkatone which is free, but they will only work with Google voice. I will investigate further and see if I can assist.