When a panel gets this alarm, but the monitoring station does actually get the alarm message, means that the panel is not waiting long enough for the acknowledgement to come back from the monitoring station. This can be done on the keypad or management software.
From the keypad, go to:-
Menu > 19 > 9 > press Enter until you see CID via Satellite > Press * to change to YES
From TITAN, go to:-
Challenger > Communications > Communications > Even More