diff --git a/fs_mgr/liblp/OWNERS b/fs_mgr/liblp/OWNERS
new file mode 100644
index 0000000..6a95eb2
--- /dev/null
+++ b/fs_mgr/liblp/OWNERS
@@ -0,0 +1,2 @@
+# Bug component: 391836
+dvander@google.com
diff --git a/healthd/healthd_draw.cpp b/healthd/healthd_draw.cpp
index 50eee19..9a47f6b 100644
--- a/healthd/healthd_draw.cpp
+++ b/healthd/healthd_draw.cpp
@@ -46,14 +46,6 @@
 
 HealthdDraw::HealthdDraw(animation* anim)
     : kSplitScreen(get_split_screen()), kSplitOffset(get_split_offset()) {
-    int ret = gr_init();
-
-    if (ret < 0) {
-        LOGE("gr_init failed\n");
-        graphics_available = false;
-        return;
-    }
-
     graphics_available = true;
     sys_font = gr_sys_font();
     if (sys_font == nullptr) {
@@ -235,3 +227,11 @@
       LOGW("Charging, level unknown\n");
   }
 }
+
+std::unique_ptr<HealthdDraw> HealthdDraw::Create(animation *anim) {
+    if (gr_init() < 0) {
+        LOGE("gr_init failed\n");
+        return nullptr;
+    }
+    return std::unique_ptr<HealthdDraw>(new HealthdDraw(anim));
+}
diff --git a/healthd/healthd_draw.h b/healthd/healthd_draw.h
index 7c847bd..0b48ce8 100644
--- a/healthd/healthd_draw.h
+++ b/healthd/healthd_draw.h
@@ -26,8 +26,6 @@
 
 class HealthdDraw {
  public:
-  // Configures font using given animation.
-  HealthdDraw(animation* anim);
   virtual ~HealthdDraw();
 
   // Redraws screen.
@@ -36,6 +34,8 @@
   // Blanks screen if true, unblanks if false.
   virtual void blank_screen(bool blank);
 
+  static std::unique_ptr<HealthdDraw> Create(animation *anim);
+
  protected:
   virtual void clear_screen();
 
@@ -76,6 +76,10 @@
 
   // true if minui init'ed OK, false if minui init failed
   bool graphics_available;
+
+ private:
+  // Configures font using given animation.
+  HealthdDraw(animation* anim);
 };
 
 #endif  // HEALTHD_DRAW_H
diff --git a/healthd/healthd_mode_charger.cpp b/healthd/healthd_mode_charger.cpp
index e95efc0..3ea90b0 100644
--- a/healthd/healthd_mode_charger.cpp
+++ b/healthd/healthd_mode_charger.cpp
@@ -218,9 +218,7 @@
     char* ptr;
     size_t len;
 
-    LOGW("\n");
     LOGW("*************** LAST KMSG ***************\n");
-    LOGW("\n");
     const char* kmsg[] = {
         // clang-format off
         "/sys/fs/pstore/console-ramoops-0",
@@ -263,9 +261,7 @@
     }
 
 out:
-    LOGW("\n");
     LOGW("************* END LAST KMSG *************\n");
-    LOGW("\n");
 }
 
 static int request_suspend(bool enable) {
@@ -325,7 +321,8 @@
             }
         }
 
-        healthd_draw_.reset(new HealthdDraw(&batt_anim_));
+        healthd_draw_ = HealthdDraw::Create(&batt_anim_);
+        if (healthd_draw_ == nullptr) return;
 
         if (android::sysprop::ChargerProperties::disable_init_blank().value_or(false)) {
             healthd_draw_->blank_screen(true);
diff --git a/init/README.md b/init/README.md
index f447ab2..58a8d6b 100644
--- a/init/README.md
+++ b/init/README.md
@@ -693,7 +693,7 @@
   fstab.${ro.hardware} or fstab.${ro.hardware.platform} will be scanned for
   under /odm/etc, /vendor/etc, or / at runtime, in that order.
 
-`verity_update_state <mount-point>`
+`verity_update_state`
 > Internal implementation detail used to update dm-verity state and
   set the partition._mount-point_.verified properties used by adb remount
   because fs\_mgr can't set them directly itself.
diff --git a/rootdir/init.rc b/rootdir/init.rc
index 9371617..08ef6e3 100644
--- a/rootdir/init.rc
+++ b/rootdir/init.rc
@@ -776,11 +776,13 @@
     # Create directories to push tests to for each linker namespace.
     # Create the subdirectories in case the first test is run as root
     # so it doesn't end up owned by root.
-    mkdir /data/local/tests 0700 shell shell
-    mkdir /data/local/tests/product 0700 shell shell
-    mkdir /data/local/tests/system 0700 shell shell
-    mkdir /data/local/tests/unrestricted 0700 shell shell
-    mkdir /data/local/tests/vendor 0700 shell shell
+    # Set directories to be executable by any process so that debuggerd,
+    # aka crash_dump, can read any executables/shared libraries.
+    mkdir /data/local/tests 0701 shell shell
+    mkdir /data/local/tests/product 0701 shell shell
+    mkdir /data/local/tests/system 0701 shell shell
+    mkdir /data/local/tests/unrestricted 0701 shell shell
+    mkdir /data/local/tests/vendor 0701 shell shell
 
     # create dalvik-cache, so as to enforce our permissions
     mkdir /data/dalvik-cache 0771 root root encryption=Require
diff --git a/trusty/storage/proxy/rpmb.c b/trusty/storage/proxy/rpmb.c
index b59fb67..a40105f 100644
--- a/trusty/storage/proxy/rpmb.c
+++ b/trusty/storage/proxy/rpmb.c
@@ -16,7 +16,10 @@
 
 #include <errno.h>
 #include <fcntl.h>
+#include <scsi/scsi.h>
+#include <scsi/scsi_proto.h>
 #include <scsi/sg.h>
+#include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -104,22 +107,18 @@
 
 static const char* UFS_WAKE_LOCK_NAME = "ufs_seq_wakelock";
 
-#ifdef RPMB_DEBUG
-
-static void print_buf(const char* prefix, const uint8_t* buf, size_t size) {
+static void print_buf(FILE* handle, const char* prefix, const uint8_t* buf, size_t size) {
     size_t i;
 
-    printf("%s @%p [%zu]", prefix, buf, size);
+    fprintf(handle, "%s @%p [%zu]", prefix, buf, size);
     for (i = 0; i < size; i++) {
-        if (i && i % 32 == 0) printf("\n%*s", (int)strlen(prefix), "");
-        printf(" %02x", buf[i]);
+        if (i && i % 32 == 0) fprintf(handle, "\n%*s", (int)strlen(prefix), "");
+        fprintf(handle, " %02x", buf[i]);
     }
-    printf("\n");
-    fflush(stdout);
+    fprintf(handle, "\n");
+    fflush(handle);
 }
 
-#endif
-
 static void set_sg_io_hdr(sg_io_hdr_t* io_hdrp, int dxfer_direction, unsigned char cmd_len,
                           unsigned char mx_sb_len, unsigned int dxfer_len, void* dxferp,
                           unsigned char* cmdp, void* sbp) {
@@ -135,6 +134,111 @@
     io_hdrp->timeout = TIMEOUT;
 }
 
+/* Returns false if the sense data was valid and no errors were present */
+static bool check_scsi_sense(const uint8_t* sense_buf, size_t len) {
+    uint8_t response_code = 0;
+    uint8_t sense_key = 0;
+    uint8_t additional_sense_code = 0;
+    uint8_t additional_sense_code_qualifier = 0;
+    uint8_t additional_length = 0;
+
+    if (!sense_buf || len == 0) {
+        ALOGE("Invalid SCSI sense buffer, length: %zu\n", len);
+        return false;
+    }
+
+    response_code = 0x7f & sense_buf[0];
+
+    if (response_code < 0x70 || response_code > 0x73) {
+        ALOGE("Invalid SCSI sense response code: %hhu\n", response_code);
+        return false;
+    }
+
+    if (response_code >= 0x72) {
+        /* descriptor format, SPC-6 4.4.2 */
+        if (len > 1) {
+            sense_key = 0xf & sense_buf[1];
+        }
+        if (len > 2) {
+            additional_sense_code = sense_buf[2];
+        }
+        if (len > 3) {
+            additional_sense_code_qualifier = sense_buf[3];
+        }
+        if (len > 7) {
+            additional_length = sense_buf[7];
+        }
+    } else {
+        /* fixed format, SPC-6 4.4.3 */
+        if (len > 2) {
+            sense_key = 0xf & sense_buf[2];
+        }
+        if (len > 7) {
+            additional_length = sense_buf[7];
+        }
+        if (len > 12) {
+            additional_sense_code = sense_buf[12];
+        }
+        if (len > 13) {
+            additional_sense_code_qualifier = sense_buf[13];
+        }
+    }
+
+    switch (sense_key) {
+        case NO_SENSE:
+        case 0x0f: /* COMPLETED, not present in kernel headers */
+            ALOGD("SCSI success with sense data: key=%hhu, asc=%hhu, ascq=%hhu\n", sense_key,
+                  additional_sense_code, additional_sense_code_qualifier);
+            return true;
+    }
+
+    ALOGE("Unexpected SCSI sense data: key=%hhu, asc=%hhu, ascq=%hhu\n", sense_key,
+          additional_sense_code, additional_sense_code_qualifier);
+    print_buf(stderr, "sense buffer: ", sense_buf, len);
+    return false;
+}
+
+static void check_sg_io_hdr(const sg_io_hdr_t* io_hdrp) {
+    if (io_hdrp->status == 0 && io_hdrp->host_status == 0 && io_hdrp->driver_status == 0) {
+        return;
+    }
+
+    if (io_hdrp->status & 0x01) {
+        ALOGE("SG_IO received unknown status, LSB is set: %hhu", io_hdrp->status);
+    }
+
+    if (io_hdrp->masked_status != GOOD && io_hdrp->sb_len_wr > 0) {
+        bool sense_error = check_scsi_sense(io_hdrp->sbp, io_hdrp->sb_len_wr);
+        if (sense_error) {
+            ALOGE("Unexpected SCSI sense. masked_status: %hhu, host_status: %hu, driver_status: "
+                  "%hu\n",
+                  io_hdrp->masked_status, io_hdrp->host_status, io_hdrp->driver_status);
+            return;
+        }
+    }
+
+    switch (io_hdrp->masked_status) {
+        case GOOD:
+            break;
+        case CHECK_CONDITION:
+            /* handled by check_sg_sense above */
+            break;
+        default:
+            ALOGE("SG_IO failed with masked_status: %hhu, host_status: %hu, driver_status: %hu\n",
+                  io_hdrp->masked_status, io_hdrp->host_status, io_hdrp->driver_status);
+            return;
+    }
+
+    if (io_hdrp->host_status != 0) {
+        ALOGE("SG_IO failed with host_status: %hu, driver_status: %hu\n", io_hdrp->host_status,
+              io_hdrp->driver_status);
+    }
+
+    if (io_hdrp->resid != 0) {
+        ALOGE("SG_IO resid was non-zero: %d\n", io_hdrp->resid);
+    }
+}
+
 static int send_mmc_rpmb_req(int mmc_fd, const struct storage_rpmb_send_req* req) {
     struct {
         struct mmc_ioc_multi_cmd multi;
@@ -153,7 +257,7 @@
         mmc_ioc_cmd_set_data((*cmd), write_buf);
 #ifdef RPMB_DEBUG
         ALOGI("opcode: 0x%x, write_flag: 0x%x\n", cmd->opcode, cmd->write_flag);
-        print_buf("request: ", write_buf, req->reliable_write_size);
+        print_buf(stdout, "request: ", write_buf, req->reliable_write_size);
 #endif
         write_buf += req->reliable_write_size;
         mmc.multi.num_of_cmds++;
@@ -169,7 +273,7 @@
         mmc_ioc_cmd_set_data((*cmd), write_buf);
 #ifdef RPMB_DEBUG
         ALOGI("opcode: 0x%x, write_flag: 0x%x\n", cmd->opcode, cmd->write_flag);
-        print_buf("request: ", write_buf, req->write_size);
+        print_buf(stdout, "request: ", write_buf, req->write_size);
 #endif
         write_buf += req->write_size;
         mmc.multi.num_of_cmds++;
@@ -225,6 +329,7 @@
             ALOGE("%s: ufs ioctl failed: %d, %s\n", __func__, rc, strerror(errno));
             goto err_op;
         }
+        check_sg_io_hdr(&io_hdr);
         write_buf += req->reliable_write_size;
     }
 
@@ -239,6 +344,7 @@
             ALOGE("%s: ufs ioctl failed: %d, %s\n", __func__, rc, strerror(errno));
             goto err_op;
         }
+        check_sg_io_hdr(&io_hdr);
         write_buf += req->write_size;
     }
 
@@ -252,6 +358,7 @@
         if (rc < 0) {
             ALOGE("%s: ufs ioctl failed: %d, %s\n", __func__, rc, strerror(errno));
         }
+        check_sg_io_hdr(&io_hdr);
     }
 
 err_op:
@@ -353,7 +460,7 @@
         goto err_response;
     }
 #ifdef RPMB_DEBUG
-    if (req->read_size) print_buf("response: ", read_buf, req->read_size);
+    if (req->read_size) print_buf(stdout, "response: ", read_buf, req->read_size);
 #endif
 
     if (msg->flags & STORAGE_MSG_FLAG_POST_COMMIT) {