Try resetting the sd10-hd . That solved my problem. I was able to pair with my iPhone 5.
Follow this link to instruction to reset the s10-hd, https://motorola-global-portal.custhelp.com/app/answers/prod_answer_detail/a_id/ 59350/p/1422,2690,7709
Essentially hold down the + and 0 (power button) until the LED turns blue. Then power off the headset and power on. Put the iPhone in discoverable mode and they should now sync.