Extended Data Fig. 1: Field of view by high-resolution TIR data and mosaic images by TIR during the descent operations.

a, Global map of Ryugu by ONC-T⁶ and coverage of the TIR images during the descent sequences used in this paper (see also Supplementary Table 1). Abbreviations of the sequences are, MNRV: MINERVA-II rovers separation, MSCT: MASCOT lander separation, TD1-R1A and TD1-R3: Touch-down rehearsals, TD1-L08E1: First touch-down operation, and DO-S01: Descent operation for S01 region. The TIR coverage is about 5% of the total Ryugu surface area. Dashed circles denote the craters (IDs 3, 8, 9, 46, 59, 69, and 126) in the TIR footprints. First touch-down (TD1) site and SCI crater site are also shown in this map. b-f, Mosaics of TIR images acquired during the descent operations (images in hovering and ascending phases are not included). The right and left panels show images at higher and lower altitudes, whose footprints on the global map are roughly indicated as yellow and green regions in a, respectively. The values of D adjacent to the crater IDs represent the diameters of the crater¹⁷. The hotspots HS1 and HS2 are indicated as red arrows. The cold spot boulders detected by Okada et al.⁵ are shown as CS1 and CS2. Blue squares in d indicate the regions A to F shown in Fig. 3.