Samples of Asterisk configuration are brought below.
sip.conf
[voiplid]
type=peer
dtmfmode=RFC2833
disallow=all
allow=g729
allow=g723
host=178.77.95.57
context=to-voiplid
extensions.conf
[to-voiplid]
exten => _X.,1,Dial(SIP/${EXTEN}@voiplid)
exten => _X.,n,Hangup
At the end reload Asterisk and check.