yeah, id say technicaly, you had a lucid dream, just with low level lucidity.
lucidity isnt an all or nothing thing. sometimes youre more lucid than others.
you're definitely on your way to haveing full fledged lucid dreams though.

congrats, and welcome to the forums. hang around. you'll learn things, tips and tricks etc.. but I think you'll also find that just hanging around a board about lucid dreaming and thinking about LD's because of the boards etc.. it'll aid you in becoming lucid.

easy...