There are two parameters to configure. The heartbeat interval defines the time between two heartbeat
pings. The default value is 2 seconds, that is, the heartbeat service of the
VBoxManage setextradataVM-name \ VBoxInternal/Devices/VMMDev/0/Config/HeartbeatInterval 2000000000
The heartbeat timeout defines the time the host waits starting from the last heartbeat ping before it defines the guest as unresponsive. The default value is 2 times the heartbeat interval (4 seconds) and can be configured as following, in nanoseconds:
VBoxManage setextradataVM-name \ VBoxInternal/Devices/VMMDev/0/Config/HeartbeatTimeout 4000000000
If the heartbeat timeout expires, there will be a log message like VMMDev: HeartBeatCheckTimer: Guest seems to be unresponsive. Last heartbeat received 5 seconds ago. If another heartbeat ping arrives after this warning, there will be a log message like VMMDev: GuestHeartBeat: Guest is alive.