Two points to take into account BEFORE racking for the final fermentation time:
1) The SG reading as PJ805 stated most times when the SG is at 1.010 or lower it should be safe to rack BUT
2) Observe the amount of foaming and bubbling when you stir the wine.
If the SG is 1.010 BUT there is still a lot of foaming and a large amount of foam when stirred, racking into a carboy could produce a foam fountain. Even if the wine settles down after stirring in the bucket - if you rack it and it foams up in a full carboy, you are going run the risk of losing some wine with a foam fountain. Not unlike opening a bottle of soda that has been shaken a little.
I've been there and watched it happen with a wine that was ready to rack according to the SG reading but was still bubbling away. It did settle down within a minute or two but still once it bubbles out and onto your work area, it's lost. Now I uncover, stir, observe and the take my reading. Even racking slowly doesn't preclude a burst of fermentation activity when the yeast is suddenly throughly mixed in that new container.
Meadmaker is also very correct on seal of a bucket lid, they don't seal reliably. I don't even use the lid and just tie a medium to tight weave cloth over my bucket until it's ready to rack into a carboy. (Unbleached Muslin, tea towel or any smooth and thin cloth, even t-shirt material)