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For any larger or long term missions you are almost certainly better off with the LV-N than anything else.
http://meithan.net/KSP/engines/
Note that the LV-N is efficient not because it doesn't use oxidizer, but rather because it has an ISP of 800, which is much higher than the Terrier's 345. Make sure that you're also using the Liquid Fuel only tanks for the LV-N, otherwise, you're losing quite a bit of delta-V due to excess wasted mass in the tanks themselves.
General rules of thumb:
-If you need lots of delta-V, then higher ISP engines are usually better, even if heavier
-If your ship is very light, then lighter engines tend to be better -- you can't have half an engine, so the mass matters a lot. For larger ships, you can always use multiple small engines for higher TWR
-TWR usually doesn't matter, but < .1 usually leads to impractically long burns. This is why I never use ion engines. It has amazing ISP, but terrible TWR.
Kerbal Engineer only adds two parts, both of which are almost entirely inconsequential (tiny computer parts that only allow Kerbal Engineer info in flight). The purpose of the mod is to give easy access to information that is useful in designing craft and in orbital manoeuvres, things like automatic calculation of dV and TWR from the perspective of any planets/moon and in cases where atmosphere is present. Stuff that really ought to be in stock as having to redo the calculations with every change in rocket parts, or during missions gets old fast.