Good question... The difference is, as you observed, very dramatic. Full foot fins are most definitely more efficient and better for propulsion. In fact, the most efficient fins is a full foot, mono-fin..like a dolphin fin, but that is not so practical for spearfishing etc.
The full foot fin, is a little harder to get on and off, but it is also much less likely to get tangled in fishing line etc.. The heel straps (of an open heel fin) and the associated clips, can all collect fishing line, while a full foot fin is completely smooth on the sides and string or line etc. will just slide off it.
The freedive fins have longer blades. These make walking on a dive boat difficult. Freedivers, aren't wearing all the heavy scuba gear on the boat, so they are more manueverable.
The open heel, scuba fin allows the diver to wear a heavy neoprene boot (they have soles) which makes walking over rocks etc. practical. Freedivers generally wear neoprene SOCKS under the fins (no soles) and there is no excess room for a heavy sole. So if you have long trecks over rocks before entry, then a scuba fin might be more practical.
I have not used an open heel scuba fin for probably 4-5 years now. The increased effciency in the water, out weighs the disadvantages for me. I use the same fiberglass blade, freedive fins for scuba and freediving.
edit: I should probably add WHY they are more efficient. The full foot fin pocket, holds the foot firmly. the upper part of the pocket is somewhat soft and slightly flxible to provide comfort, but the sole of a good freedive fin is solid, inflexible and this combination serves to transmit power from the leg to the water more efficiently than a normal scuba fin. If a normal scuba fin delivered power more efficinetly, you can be damn sure freedivers would be using them. Thy are all about efficiency in the water- after all, they do it all on one breath. Incidentally, I fins a good freedive fin much more comfortable than an open heel scuba fin and a boot, they tend to wobble and tear up the tops of my toes.