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Whatcha do is set that Pe to around 4km and hope to ♥♥♥♥ the large canyon or also large mountain isn't there this time you're landing (alternatively set your Pe to 4.5km) wait until you're at Pe and burn like a ♥♥♥♥♥♥♥♥♥♥♥♥ on retrograde.
Your task now is to fight the navball, you want to keep it horizontal-ish, but be decreasing in altitude. You're still going sideways at an insane speed at this point.
Should you think "OH ♥♥♥♥ I'MMA COLLIDE" then push the retrograde vector away from the ground and vice versa.
Your overall task should be to land as sideways as possible until you've mastered this. Any, repeat ANY fuel wasted on slowing down and hovvering is not at all fuel effecient.
in closing; sideways for life
Going straight up from the launch pad to the Mun costs more fuel than going to orbit first and doing a transfer from a circular orbit.
Most players start doing their gravity turn in the low atmosphere for the fuel savings.
For landing, I'll have to check the math on this but going to low orbit then landing should be more fuel efficient.
You aren't fighting gravity during your insertion burn but you are for landing.
For actually landing, the absolute most efficient way is to go sub-orbital and do a suicide burn.
This maneuver is near impossible to do without (even with) computer assistance because you need to fire your engines on full power at the last possible moment.
You waste fuel or hit the ground hard if you mess up.
A much safer method is your controlled descent but you waste fuel fighting gravity if you keep your vertical speed low.
Try practicing with a fast descent until you get the feel for it and you'll have more efficient landings.
Custom landing gear made from structural parts can take a huge impact (50+ m/s) and survive so they're good to practice with.
Don't fight gravity and you'll have better fuel efficiency.
To the mun, there's hardly any difference, but you will save yourself time, be able to timewarp faster much quicker and generally the stage that was in charge of making that happen is now falling back to Kerbin as debris, so your debris worry is gone.
In theory direct launch doesn't require you to circulize at Kerbin, so you could have a case where Pe is still below ground and thus save delta v.
In theory. In praxis though that would require very steep climb on Kerbin. Because otherwise Pe will still rise above ground while burning for Mun (even slightly orbital shaped burns work on opposite side too) which, except done with OP TWR, would waste more on vertical ascent (hovering) than the optimal gravity turn going shallower.
So in the end in my tests the result with something inbetween required more expensive ships while gaining like <10m/s savings for Mun - not really worth anything except you go for a really explosive launch (10+G or something) with even more OP build. Which will cost even more for extra nose cones, decouplers, more powerful engines, higher launch mass SRBs (might be important early on), etc.
TL;DR your described launch is pretty much optimal for human imo.
You can reach high accuracy, low costs and high comfort.
As for myself I always go for highly accurate 71..72km LKO, make burn at optimal spot moving node around and get it down to 20..25km Pe at Mun.
Could go lower, but first grand canyon on the dark side is up to 7km at some spots iirc and also if you go <10km it's basically better to land already. Because time warp(!) is limited by altitude and you will be forced to watch really slow one if you arrive lower and want to land much further from tail side. Waste real time.
Also why would debris be a worry? You can always terminate debris, or any other vessel from the tracking center, and if you mean from your own debris destroying your ship as it falls away, in order to prevent debris doing that you can point prograde before seperation, and it will fall away parallel to your spacecraft.
So ignore that.
The lower a Pe, the more efficient burn at that Pe. But also the higher the velocity there. In general Oberth effect would mean you have to choose Pe as low as possible.
Then going that route and considering your Pe might be subsurface, you land before reaching Pe (up to Mun diameter apart, actually less, probably 2/3?) and thus on one side you have less speed to bleed yet, but on other side you are not at the most optimal spot to do that burn.
It's a mess and the difference for Mun is really tiny. Also unlike Kerbin it doesn't rotate much.
My best guess would be you can save most delta v flying on a straight line from Kerbin to Mun. But that won't be the cheapest ship! And targeting would need high timing accuracy.
If you go for a regular landing though, I would guess Pe touching the surface would be best. You are at optimal spot to reduce your kinetic potential at Pe. And it is where you land. But again, for Mun those values are so tiny you could probably save more with better suicide execution on a regular landing than digging all that math for perfection in approach.
I'll level with you; my way is advanced as ♥♥♥♥, the landing is extremely hard and all about embracing horizontal velocity, but if you learn it you'll be in good stead for high G landing, which is a very, very valuable skill. Right now your d/V and remaining fuel doesn't matter, you either made it or you didn't. Who cares? The Mun is right there, a simple drive to work.
Out there in the far reaches, you'd prefer not to call for help or make overcompensating designs.
Edit: I forgot to mention eventually your space planes will need to be landed horizontally, unless you're content with it flopping on its side, or pointing at the sky like a rocket, lol
Mun gravity is just 1.67m/s². Which means your good regular landing is just 20..30m/s apart from great one. I had a case when I missed 45m/s or so. Couldn't do it no matter how many times I tried. Got down to 15m/s with extreme last second burn running out of fuel exactly at touchdown and still blew up my engines or legs.
So basically just don't go too slow. And don't worry much about Mun.
This skill really shines at Tylo. And basically only there. Because perfect suicide burn there can save hundreds of m/s. Unfortunately accuracy required for that is nearly inhuman. Due to how fast you go, how far in advance you have to start, and how ground changes below you while pulling you with high G, while also being out of full resolution range.
It's also much easier to have TWR of 4 or more on Mun. It's so much harder at Tylo for at least 2 reasons - high G and far travel to get there first so you may not have that luxury of OP engines to slow down quickly. So your Tylo slowdown takes much longer and the safety reserve is tiny.
Agree. I find the suicide burn approach to be the most fuel efficient for landings on all the vacuum bodies.
You want to kill your vertical and horizontal at the same time.
It's like crossing a large field diagonally instead of walking two sides.