PG 9.5 same SQL 2 different plans

Hi Gurus,

we upgrade to PG 9.5.3,  in last days  we are seeing a strange optimization issues with one of the SQL :
 running same SQL every  15-20 times optimizer will choose( wrong plan)/ most expensive which  generates approx
50 GB temp files  and runs for aprox 20 min , we can not understand the reason ( we run vacuum analyze daily),
Pg conf values:
random_page_cost=3.0
defalult_statistics_taget=100
work_mem=400MB

Here is the SQL :

explain analyze SELECT ObservationSkeleton.lastModified,ObservationSkeleton.maxLastModified,ObservationSkeleton.stateCode,ObservationSkeleton.obsID,PlaneSkeleton.lastModified,PlaneSkeleton.maxLastModified,PlaneSkeleton.stateCode,PlaneSkeleton.planeID,ArtifactSkeleton.lastModified,ArtifactSkeleton.maxLastModified,ArtifactSkeleton.stateCode,ArtifactSkeleton.artifactID,PartSkeleton.lastModified,PartSkeleton.maxLastModified,PartSkeleton.stateCode,PartSkeleton.partID,ChunkSkeleton.lastModified,ChunkSkeleton.maxLastModified,ChunkSkeleton.stateCode,ChunkSkeleton.chunkID FROM cvodb.caom2.Observation AS ObservationSkeleton LEFT OUTER JOIN cvodb.caom2.Plane AS PlaneSkeleton LEFT OUTER JOIN cvodb.caom2.Artifact AS ArtifactSkeleton LEFT OUTER JOIN cvodb.caom2.Part AS PartSkeleton LEFT OUTER JOIN cvodb.caom2.Chunk AS ChunkSkeleton ON PartSkeleton.partID = ChunkSkeleton.partID ON ArtifactSkeleton.artifactID = PartSkeleton.artifactID ON PlaneSkeleton.planeID = ArtifactSkeleton.planeID ON ObservationSkeleton.obsID = PlaneSkeleton.obsID WHERE ObservationSkeleton.obsID = '00000000-0000-0000-0603-e3ee45c5b6b7' ORDER BY ObservationSkeleton.obsID,PlaneSkeleton.planeID,ArtifactSkeleton.artifactID,PartSkeleton.partID;

***Here is the wrong plan( using > 40GB temp files , running SEQ SCAN on aprox 60 mill rows,  and exec time 20 min)

 QUERY PLAN                                                      
---------------------------------------------------------------------------------------------------------------------Sort  (cost=34130921.12..34130939.82 rows=7480 width=180)  Sort Key: planeskeleton.planeid, artifactskeleton.artifactid, partskeleton.partid  ->  Nested Loop Left Join  (cost=8160852.43..34130439.82 rows=7480 width=180)        Join Filter: (observationskeleton.obsid = planeskeleton.obsid)        ->  Index Scan using observation_pkey on observation observationskeleton  (cost=0.43..6.45 rows=1 width=36)              Index Cond: (obsid = '00000000-0000-0000-07a6-0143085f9ddf'::uuid)        ->  Hash Right Join  (cost=8160851.99..34130339.87 rows=7480 width=160)              Hash Cond: (artifactskeleton.planeid = planeskeleton.planeid)              ->  Hash Right Join  (cost=8158554.13..33707311.38 rows=112174888 width=124)                    Hash Cond: (partskeleton.artifactid = artifactskeleton.artifactid)                    ->  Hash Right Join  (cost=6305604.98..22889335.83 rows=112174888 width=88)                          Hash Cond: (chunkskeleton.partid = partskeleton.partid)                          ->  Seq Scan on chunk chunkskeleton  (cost=0.00..5047469.16 rows=60691316 width=52)                          ->  Hash  (cost=3807960.88..3807960.88 rows=112174888 width=52)                                ->  Seq Scan on part partskeleton  (cost=0.00..3807960.88 rows=112174888 width=52)                    ->  Hash  (cost=1194034.40..1194034.40 rows=29593340 width=52)                          ->  Seq Scan on artifact artifactskeleton  (cost=0.00..1194034.40 rows=29593340 width=52)              ->  Hash  (cost=2288.29..2288.29 rows=766 width=52)                    ->  Bitmap Heap Scan on plane planeskeleton  (cost=21.50..2288.29 rows=766 width=52)                          Recheck Cond: (obsid = '00000000-0000-0000-07a6-0143085f9ddf'::uuid)                          ->  Bitmap Index Scan on i_obsid  (cost=0.00..21.30 rows=766 width=0)                                Index Cond: (obsid = '00000000-0000-0000-07a6-0143085f9ddf'::uuid)
(22 rows)

**** And the correct plan ( no temp files , no seq scan, exec time 6ms)
                                                                               QUERY PLAN                                                                               
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 Sort  (cost=24779053.69..24779054.41 rows=289 width=180) (actual time=4.539..4.564 rows=264 loops=1)
   Sort Key: planeskeleton.planeid, artifactskeleton.artifactid, partskeleton.partid
   Sort Method: quicksort  Memory: 95kB
   ->  Nested Loop Left Join  (cost=2.69..24779041.88 rows=289 width=180) (actual time=0.375..3.967 rows=264 loops=1)
         Join Filter: (observationskeleton.obsid = planeskeleton.obsid)
         ->  Index Scan using observation_pkey on observation observationskeleton  (cost=0.43..6.45 rows=1 width=36) (actual time=0.077..0.077 rows=1 loops=1)
               Index Cond: (obsid = '00000000-0000-0000-0603-e3ee45c5b6b7'::uuid)
         ->  Nested Loop Left Join  (cost=2.25..24779031.81 rows=289 width=160) (actual time=0.285..3.702 rows=264 loops=1)
               ->  Index Scan using i_obsid on plane planeskeleton  (cost=0.56..88.02 rows=28 width=52) (actual time=0.078..0.109 rows=8 loops=1)
                     Index Cond: (obsid = '00000000-0000-0000-0603-e3ee45c5b6b7'::uuid)
               ->  Nested Loop Left Join  (cost=1.69..884948.84 rows=1344 width=124) (actual time=0.143..0.436 rows=33 loops=8)
                     ->  Nested Loop Left Join  (cost=1.13..878643.86 rows=1344 width=88) (actual time=0.099..0.154 rows=33 loops=8)
                           ->  Index Scan using i_planeid on artifact artifactskeleton  (cost=0.56..1077.84 rows=356 width=52) (actual time=0.051..0.053 rows=2 loops=8)
                                 Index Cond: (planeskeleton.planeid = planeid)
                           ->  Index Scan using i_artifactid on part partskeleton  (cost=0.57..2453.44 rows=1163 width=52) (actual time=0.035..0.052 rows=22 loops=12)
                                 Index Cond: (artifactskeleton.artifactid = artifactid)
                     ->  Index Scan using i_partid on chunk chunkskeleton  (cost=0.56..4.68 rows=1 width=52) (actual time=0.006..0.007 rows=1 loops=264)
                           Index Cond: (partskeleton.partid = partid)
 Planning time: 8.030 ms
 Execution time: 5.128 ms

Isabella