You don't need to know the post-boil gravity to measure your
conversion (mash) efficiency, but there is a very good reason almost everyone does (more on that in a minute *).
Assuming potential of 36 points for each grain, ideal conversion would give you
( (36*6.5) + (36*1) ) / 5g = 54 points (1.054). So, your efficiency is
measured / ideal =
51/54 * 0.94 = 94% Nice job [though I suspect bad measurement somewhere - weight, volume, or gravity]
* Thing is, if you measured your pre-boil gravity, it was probably hot and the reading would be way off (pardon me if you cooled it first).
This, BTW, is your
conversion effiency; it just measures how well you extracted soluble sugars from the grain. Since losses can (and do) occur while transferring from the boil kettle to the carboy, that also will affect the final
brewhouse efficiency. So, in the equation above, if you replaced the "5g" with the amount you transferred to the carboy, and you replace the gravity (1.051) with the gravity of the final cooled wort, then you would get your total
brewhouse efficiency. It won't get better, and will likely get worse