Well, long story short dreams can happen during any phase of the night, but during REM you will have drastically more vivid dreams, along with a huge increase in dream recall because your usually in a less heavy sleep.
Naps are a great way to LD usually, because generally you nap because you didnt get enough sleep the night before (Interrupted your sleep cycle). This of course means you missed the last few hours of sleep, which has a large chunk of the REM cycle. Your body basically plays catch up for the night before, and you may start immediately in an REM cycle, and drop right into a LD.
It sounds like you were close to that, maybe you began slipping into a dream before SP kicked in and thats why you were only semi lucid/conscious? Sounds kinda like you were in a transitional state between awake/asleep.
Best advice I can say is keep it up, try relaxing a bit more or only stimulating your mind rather then thinking about your body if you reach this again soon. Alot of people talk about a "wave of heaviness" thats sets in right before SP, followed by.. a huge urge to move or reposition themselves. They say they get really uncomfortable all the sudden, if they dont move their body goes straight into sp...Maybe thats where you where, and you were just experiencing some vivid HI?
For me its a very gradual stage, happens slowly.. so cant help ya there 
*edit* Oh, and wilding doesn't "need" like 6 hours of sleep, Its just that this will leave the average person with a few hours of sleep left, but its usually enough so that if you wanted/needed to you could stay awake.. This is just the kinda in between phase you wanna be in when attempting a wild. To awake and you'll lay in bed forever, to tired and you'll pass out till morning
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