I read your pcap file. I thought it was invalid, but it looks valid to me, even though it's strange and I've never seen this nonsense in normal SIP traffic.
RFC3261 Section 18.3
In the case of message-oriented transports (such as UDP), if the
message has a Content-Length header field, the message body is
assumed to contain that many bytes. If there are additional bytes in
the transport packet beyond the end of the body, they MUST be
discarded.
Therefore it looks to me that any server/client should simply ignore anything after the header when the Content-Length is zero.
I don't see that error "dropping insane message" in kamailio source code, so I suppose your config file generates that.
The sanity module, which Antonio mentions, would drop this message, so I guess that's what's happening in your config.
- content length - (128) - checks if the size of the body matches with the value from the Content-Length header.
James