I don't have the quantity of experience as Andro does, but for me it is just like being awake... the only difference is you can do anything you want and be anyone you want. It's a lucid dream. The problem I have is that it becomes so spectacular and amazing that I "get lost" in the experience and fall back into a non-lucid state... thereby loosing control of the dream again. I have only become lucid when already inside the dream. I have never entered the dream awake at the start. I imagine being awake "going in" changes the playing field a lot, and perhaps that is the key to resist getting lost in the experience and loose the lucidity.
There is another kind of dream that I have had more times than a pure lucid dream, and I am not sure what it's called, but basically it's a dream where I know it is a dream but I somehow still have no control. Like a semi-lucid dream. I am so interested in seeing the dream play out that I don't bother taking control of it.

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