I have seen this behaviour with the PIX far more often than VPN Concentrators in the same situation. My conclusion is that the pix is slightly less robust when it comes to sustaining inactive tunnels. In testing downed vpn tunnels I did discover that pinging from the far side would always bring the tunnel back up.
My solution PIX to PIX is to use a keepalive IE: isakmp keepalive 10 10
In cases where the remote hardware does not have a keepalive function, I use task scheduler on a remote server to ping a local server every 10 mins.
Now my VPN tunnels rarely go down. I should point out that in several cases I really don't care if the tunnel drops out, since any network traffic from those locations to the PIX always reconnects the tunnel.