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condor-7.6.1-0.2 uses a timeout multiplier default in the shadow of 1, which means delays in communication with a loaded schedd (processing 100+ jobs per second, see bug 699726). Upping the timeout multiplier can greatly reduce errors from communication failures. It is frequently the case that a shadow re-trying communication is of greater importance than exiting.
Tim found a better solution as part of bug 699726