is there any way to convert ASR-10 sequences/songs into midi files that can be edit via a software sequencer?

Yes. There are two programs that do it.
EPSSMF from Giebler and
Ensoniq Midi Disk Tools from Rubber Chicken Software. You'll find the links somewhere in this web.
There are other freeware utilities written by pioneers in the old DOS and WIN3.1 days. Most of them are discontinued and others never released.
Hope this helps.