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I've already tried pkill -19 firefox, but it crashes. At the next start it asks if the last session should be opened again. Is it possible to terminate the browser without crash?

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Any use of pkill is going to crash it; that's essentially its purpose. Use a program like wmctrl instead, to tell it to exit properly.

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Thank you. It's as easy as wmctrl -c Firefox. –  chris May 14 '12 at 20:08

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