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Crumble the ground beef into a large bowl and sprinkle with the garlic powder, onion powder, salt, pepper, and ground mustard. Blend well. (I like to use a fork for this. It keeps you from overworking the mixture – which can produce a tough hamburger steak.) Divide the mixture into 4 equal amounts (or more if you want smaller steaks) and form them into patties.
Place a skillet (cast iron works great) over medium-high heat. Once the pan is hot, place the steaks in the skillet and allow them to cook without touching them for about 4 minutes. Flip them over and cook them for an additional 4 minutes. (You want to get a nice dark brown color on them – that's where the flavor is.) Remove the steaks from the pan and allow them to rest on paper towels.
Drain away all but about 2 tablespoons of the grease from the pan. Put the pan back on the heat and add the sliced onions. Cook until just translucent (about 3 minutes). Add the undiluted onion soup, gravy mix, and water and stir well. Bring to boil, reduce the heat to a simmer, and stir in the Worcestershire sauce. Add the hamburger steaks back to the pan and cook until they are done to your liking.