A minor series of glaciations occurred from 460 to 430 million years ago. Two more extensive glaciations were from 350 million years before present to 250 million, and from 4 million years ago to about 10,000 years ago (the Pleistocene period).
Isn't there general agreement that we're still in a "series of gaciation" - that is, an Ice Age? Glaciations have gome and gone regularly for the last 4 million years, and we're in between two now. As long as we're talking about "series of glaciations", I think the "to about 10k years ago" is misleading.