You are between a rock and a hard place here really. You don't want to do a water change, yet want to spend sufficient time doing a proper gravel vac, without sucking up any water! You are going to lose water whichever way.
A small diameter syphon pipe will take out less water, but suction will be poor, as in your current case. But a larger diameter syphon, although great at taking the crud away, also quickly removes water. Maybe that's why gravel vacuuming is usually carried out on water change day, they go hand in hand.
I don't do any gravel vacuuming. I simply have strategically placed powerheads intermittently coming on during the day which direct any settled crud to my outlet. Then the natural turnover of my system just takes it away to my waiting mech side.
That's the best way of dealing with settled crud without doing a water change, or vacuuming.