I had the same issue previously after an upgrade from 4.x to 5.1 GA build (799733). See this KB, you may be hitting the bug I encountered VMware KB: ESXi and ESX hosts randomly disconnect from VMware vCenter Server and it was fixed with a patch.
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I had the same issue previously after an upgrade from 4.x to 5.1 GA build (799733). See this KB, you may be hitting the bug I encountered VMware KB: ESXi and ESX hosts randomly disconnect from VMware vCenter Server and it was fixed with a patch.