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closes #4469 Improved speed of cleanup by using SignedHeaderAfter instead of TrustedHeader to jump from header to header. Prune() is now called when a new header and validator set are saved and is a function dealt by the database itself ## Commits: * prune headers and vals * modified cleanup and tests * fixes after my own review * implement Prune func * make db ops concurrently safe * use Iterator in SignedHeaderAfter we should iterate from height+1, not from the end! * simplify cleanup Co-authored-by: Anton Kaliaev <anton.kalyaev@gmail.com>