We revisit a class of supersymmetric SO(10) models with t-b-tau Yukawa coupling unification condition, with emphasis on the prediction of the Higgs mass. We discuss qualitative features in this model that lead to a Higgs mass prediction close to 125 GeV. We show this with two distinct computing packages, Isajet and SuSpect, and also show that they yield similar global features in the parameter space of this model. We find that t-b-tau Yukawa coupling unification prefers values of the CP-odd Higgs mass m(A) to be around 600-800 GeV, with all colored sparticle masses above 3TeV. We also briefly discuss prospects for testing this scenario with the ongoing and planned direct dark matter detection experiments. In this class of models with t-b-tau Yukawa unification, the neutralino dark matter particle is heavy (m(<(chi)over tilde1)(0)greater than or similar to 400 GeV), which coannihilates with a stau to yield the correct relic abundance.