In my book, a MILD is a placebo-induced DILD. On a scale of 1 - 10, with 10 being as clear as waking life, I'd say my DILDs are the following.

Awareness/consciousness - 7/10
Clarity of surroundings - 8/10

It does depend on the specific dream, though.

As for recall, you do need to be able to remember your dreams. Last night, for instance, I had a lucid, but I didn't remember it until just a few hours ago (and I still can't remember a lot of the details). This is because my recall over the past week has been unusually poor. Lucidity doesn't guarantee a remembered dream.