In general, no sparge BIAB does take a small hit in efficiency so it's better to plan for it. If you do the dunk-sparge process described in Deathbrewer's thread, you'll get that efficiency back.
Where you really sure about your temperatures? Have you checked your thermometer in boiling water?
How much water did you steep the 10lbs of grain in? I'd want to stick with something like 4 gallons. From there, even if you squeeze the grain bag well, you'll probably be left with about 3.5 gallons. That's when you take the grain bag and dunk it into 3 gallons of 175F water, stir it around, and then squeeze it out again. Now you take that 6.5 gallons and boil it for an hour, yielding 5.25 gallons higher gravity wort.
When you skip the boil, you're missing out on concentrating the gravity of the wort. You actually did the opposite by adding water.