This is what I am currently using. I can get the knives down deep enough that I have very little frost heave, they don't get caught by the rake and so far nothing has dug them up. I also place them pretty close to the base of the plants. Should for some reason the tag fades, it is my hope that they heavy duty marker will allow me to read what the plant is. This really only serves as a backup in most of my gardens since I have them plotted out too.
I eventually plan to get the real markers, but will keep this system because I will remove them in the fall so that I can rake and maintain the garden beds without going around 20-50 some garden markers.