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Auto reconnection fails after disconnect

hello there! I am working on a project in which two devices(one is central and other is peripheral ) uses Nordic bluetooth controller nRF51822 for connection and data exchange.
Currently the peripheral device that will connect and pair with one central. I am working to implement the auto reconnect feature between both devices, ie when the peripheral device goes out of range ,the central device should still actively scan for the peripheral device until it comes in range. When back in range the devices should get connected automatically. 
While testing i could see that, when the devices are out of range and when the central device scans for the peripheral, a soft device reset happens at the central device
due to app_error_fault _handler being invoked. The error code is NRF_ERROR_INVALID_STATE. The soft device reset does not happen at a consistent time. It could occur at a varying time after disconnection.

Below the stack captured when the soft device reset happened.

Has anyone faced this before? It would be great if someone can help with points to root cause this issue.
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