Thanks it worked perfectly.
root@debian:/usr/local/kamailio/sbin# ./kamctl fifo ul_rm_contact location 1040@saevolgo.ca 'sip:1040@192.168.1.6:63625;rinstance=a9a0e622352e6b5a;transport=UDP'
root@debian:/usr/local/kamailio/sbin#
root@debian:/usr/local/kamailio/sbin# ./kamctl ul show
Domain:: location table=1024 records=1 max_slot=1
AOR:: 1040@saevolgo.ca
Contact:: sip:1040@192.168.1.6:63625;rinstance=a9a0e622352e6b5a;transport=UDP Q=
Expires:: deleted
Callid:: ommuBmQf9njcG6kTeAcmjA..
Cseq:: 2
User-agent:: Z 3.9.32144 r32121
State:: CS_SYNC
Flags:: 0
Cflag:: 0
Socket:: udp:192.168.1.27:5060
Methods:: 5087
Ruid:: uloc-58c94581-362d-1
Reg-Id:: 0
Last-Keepalive:: 1489585541
Last-Modified:: 1489585541


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