I have a newer version MIDI with self-cleaning bag. I know older MIDI may have not been HEPA and had paper disposable bags. However the new self-cleaning bags are sold in packages of five which leads me to believe they are designed to be disposable. I have simply been emptying the bag through the dust hole. I clearly want to use the machine in the manner that it was designed and get the most performance I can. So my question is...simply throw out the bag? Also how do you know when it's time to change the HEPA filter? Mine always looks clean but is there some sort of timeframe that the filter should be replaced.