The commands for changing the heartbeat options seem to be mistaken.
Source: https://forums.virtualbox.org/viewtopic.php?f=1&t=83302


Index: doc/manual/en_US/user_AdvancedTopics.xml
===================================================================
--- doc/manual/en_US/user_AdvancedTopics.xml    (revision 67178)
+++ doc/manual/en_US/user_AdvancedTopics.xml    (working copy)
@@ -3789,7 +3789,7 @@
       is, the heartbeat service of the VirtualBox Guest Additions will send a 
heartbeat
       ping every two seconds. The value in nanoseconds can be configured like 
this:
     </para>
-    <screen>VBoxManage controlvm "VM name" 
VBoxInternal/Devices/VMMDev/0/Config/HeartbeatInterval 2000000000</screen>
+    <screen>VBoxManage setextradata "VM name" 
VBoxInternal/Devices/VMMDev/0/Config/HeartbeatInterval 2000000000</screen>
     <para>
       The <emphasis>heartbeat timeout</emphasis> defines the time the host 
waits
       starting from the last heartbeat ping before it defines the guest as 
unresponsive.
@@ -3797,7 +3797,7 @@
       as following (in nanoseconds):
     </para>
 
-    <screen>VBoxManage controlvm "VM name" 
VBoxInternal/Devices/VMMDev/0/Config/HeartbeatTimeout 4000000000</screen>
+    <screen>VBoxManage setextradata "VM name" 
VBoxInternal/Devices/VMMDev/0/Config/HeartbeatTimeout 4000000000</screen>
 
     <para>
       If the heartbeat timeout expires, there will be a log message like

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