Nick, I think you missed what he said: Lucid dreaming is knowing you are dreaming while in the dream state. If you weren't aware you were dreaming then you weren't lucid (I'm just going on what Hiros said).
And about waking up or loosing lucidity: for me its a slow return to my phsyical body where the dream fades and you start to feel your position in bed. Sometimes when I wake up my fingers twitching will make it a quicker process.
I suppose there are different levels of dreaming, and you were in a state where you could basically do anything you wanted but you weren't actually aware that you were dreaming. I don't know if it makes that big a difference because I have been in that state where you can do almost anything but still dont know that you are dreaming just like you. Perhaps for an instant you become aware you are dreaming and thats how you discover you can do anything but then you forget that its a dream but you still retain the abilities that you wouldn't normally have.
Just speculations, I'm no expert.
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