I just did some calculations, and you should be able to get a batch out of it.
Basically, you work out the maximum liquid you can fit in the urn during the mash (ie top up once you have your grain in) right to the brim. You're doing this because thicker mashes result in less efficiency with BIAB, so you want the mash as thin as possible
then when you pull the bag, top up as high as you dare go for the boil, this will give you the best possible hop utilization
you will boil off a certain amount of liquid, if you find you don't have enough at the end of the boil (you'll be able to dilute in the fermenter) then you can always add more liquid during the boil
You should be able to do a full batch, but will probably have to add 4L or so during/before the boil
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A kilo of dry grain displaces about 1L of water until it gets wet, where it displaces about .7L
So, 5KG will have a dry displacement of about 5L and a wet displacement of about 3.5L
So, if you have a 5KG grain bill and your urn holds 32L to the brim with the lid on, fill up to 27L (32 less 5L displacement), then add back about 1.5-2.5L once you have your grain wet to fill it right up. I would just warm 30L up to strike temp and reserve 3L in a jug
When you pull your bag and squeeze it you'll get about 26-27L of liquid.
That should be okay for a boil.
If you lose 4-6L then you'll be down to 21L or so
Which is why you might want to add back some water during the boil. I find if I crank the boil as I slowly add near boiling water (say from a kettle) it doesn't slow my boil
If you can end up with 25L post boil, then you can get 24L hot into a cube, and 23L into a fermenter.
Of course, if you're kegging you may only desire 20L into the fermenter, which makes everything much easier