The answer depends on a lot of factors. But at the end it can be quite simple. Single subexposure time matters virtually nothing, as long as you stay within reasonable limits, and you are in the read-noise dominated regime. Than only _total integration time matters_.
To determine subexposure time, it depends on:
- Sensor read noise, which depends on ISO (and camera model, of course.) The HIGHER the ISO, the LOWER the read noise. That is an area where you can find misleading or plainly wrong information online, especially coming from daylight photographers. Can sound crazy, but that is the simple truth. Check photonstophotos RN charts. The lower the read noise, the shorter the minimum subexposure. Each camera has some specific "recommended ISO range". For older Canons, 800-3200. For newer Nikon/Sony sensors, about 400. I suggest you with this recommendations.[/*]
- Light pollution - the brighter the sky, the shorter the minimum subexposure.[/*]
- Focal-ratio (f/) The faster the scope, the shorter the minumum subexposure. [/*]
- Filter: if you use narrowband filters, the minimum subexposure time should be a lot longer (and broadband LP filters can also affect the minimum subexposure, albeit much less than narrowband filters).[/*]
- Optical throughput and efficiencies (QE, transmissivity...) - less impactful than other sources.[/*]
The minimum subexposure should "swamp" the read noise, making the shot noise (from object and light pollution especially) (or dark current) the dominant noise term.
For DSLRs, the best rule of thumb is to use the back of camera histogram (the one you see when displaying the image on the LCD). The peak should be somewhat around 25% from the left. Much more to the right (brighter), you are gaining very little benefit, and you might start saturating too many stars.
Once you get to the minimum exposure time - let's say for you it is 1 minute. Then it *does not matter* if you do 60x1min, 30x2min, 20x3min, 6x10min (practically speaking. Longer subexposures will always have a slight, diminishing, advantage). Provided you can track accurately for any amount of time. Losing one 10min frame can be very detrimental, much more than simply using shorter exposures. Of course you should also avoid saturation - you do not want to clip all the stars (but the bright ones will almost inevitably clip), and definitely not clip the DSObject you're shooting.
Usually, most systems under most skies, this number should be between 1min (fast optics, or light-polluted skies) and 5 minutes. For slow systems under dark skies, it can be as long as 10-20min. Add in narrowband filters (with which DSLRs are quite inefficient), and the "optimal" time will probably be 10-60min, which may be very impractical, and you should use shorter, 5-10min exposures and live with the small SNR loss.
At the end it is a tradeoff. Once you find your optimal subexposure lenght, then the integration is what matters.
Best regards,
Gabriel
PS: unless you have very warm nights (20ºC or more), thermal noise should not be a major concern, especially in the beginning. If your night temperatures are below 5ºC, than dark current becomes really negligible. I would recommend against "cooling" the sensor, especially if it means capturing less photons. Integration time is the most important!