Halo and Subhalo Demographics with Planck Cosmological Parameters:
  Bolshoi-Planck and MultiDark-Planck Simulations
  We report and provide fitting functions for the abundance of dark matter
halos and subhalos as a function of mass, circular velocity, and redshift from
the new Bolshoi-Planck and MultiDark-Planck $\Lambda$CDM cosmological
simulations, based on the Planck cosmological parameters. We also report the
halo mass accretion rates, which may be connected with galaxy star formation
rates. We show that the higher cosmological matter density of the Planck
parameters compared with the WMAP parameters leads to higher abundance of
massive halos at high redshifts. We find that the median halo spin parameter
$\lambda_{\rm B} = J(2M_{\rm vir}R_{\rm vir}V_{\rm vir})^{-1}$ is nearly
independent of redshift, leading to predicted evolution of galaxy sizes that is
consistent with observations, while the significant decrease with redshift in
median $\lambda_{\rm P} = J|E|^{-1/2}G^{-1}M^{-5/2}$ predicts more decrease in
galaxy sizes than is observed. Using the Tully-Fisher and Faber-Jackson
relations between galaxy velocity and mass, we show that a simple model of how
galaxy velocity is related to halo maximum circular velocity leads to
increasing overprediction of cosmic stellar mass density as redshift increases
beyond redshifts $z\sim1$, implying that such velocity-mass relations must
change at redshifts $z>1$. By making a realistic model of how observed galaxy
velocities are related to halo circular velocity, we show that recent optical
and radio observations of the abundance of galaxies are in good agreement with
our $\Lambda$CDM simulations. Our halo demographics are based on updated
versions of the \rockstar\ and \ctrees\ codes, and this paper includes
appendices explaining all of their outputs. This paper is an introduction to a
series of related papers presenting other analyses of the Bolshoi-Planck and
MultiDark-Planck simulations.
