"Argos"? Is that the satellite "System Argos" or something else? Heartbeat and watchdog timers! Old friends indeed - you're doing fault tolerant programming there. I don't know enough about your system - which looks impressive to me - to be able to tell how this runs - but I found years back that software heartbeats and watchdog resets need to be as far in the foreground/upper level as possible as background/lower level watchdogs had an annoying tendency to keep working just fine even though the foreground had crashed and the system wasn't doing what it was supposed to.