The type of operation needs to be voip(13), the protocol should be voipAppl(31). Then you'll want to play with rttMonEchoAdminCalledNumber and rttMonEchoAdminDetectPoint to set the correct options. Your two valid detect points are voipDTAlertRinging(6) and voipDTConnectOK(7). Again, all of your SETs will need to be sent in one request.
You do not need to download the device's current configuration first. You can simply add these commands. To TFTP this config from a server into the device's running config, use the startup config example in the documented to which I pointed you, but change the value for ccCopyDestFileType from 3 to 4.
The only commands that should be in your config file are those after "configure terminal". The last line must be "end".
I missed that you also need to send the "call application state" command. You can still do this using the CONFIG-COPY-MIB by prepending "do" to the command. For example, add this to your config snippet:
do call application session start ipsla-testcall ipsla-testcall
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