Got multi-meter?

With all your panel circuit switches off, there should be no loads from the boat or any reason to see 10v at the panel meter. If you measure 10v at the battery, and everything is turned off, it's highly likely the battery is the problem. Make sure your battery charger is turned off also. Measure volts at the batteries with the battery switch off. There should be 12-13v. Then measure volts at the battery switch itself, where the red cable from the batteries comes into it. Any drop of voltage to the incoming connection on the switch would mean a bad red cable located between the switch and the batteries.
You can double check your panel voltage meter and troubleshoot your issue by clipping one of your meter leads (use the black one) to the neg. battery post and moving the other lead along the red cable at each connection along the way to find the drop. Turn on the battery switch. If you start out with a proper 12-13v at the battery, it should stay that way, in to the main battery switch and then out of the switch and distributed to each of the inlet sides of individual circuit switches. If you see a drop in voltage at one point, then you've located the problem. Depending if your panel meter is before or after the battery switch, maybe the contacts in the battery switch are corroded and you're seeing the voltage drop caused by the battery switch itself. Good Luck!