What are the words in the intro to Space Robot Five by Ghoti Hook?

Before the sung lyrics begin, there's a bit with an electronic voice and a line with a voice speaking that I can't quite make out. I think I have:

Robot:
<Can't make out> the waking mind,
there lies another time
where darkness and light are one.
And as we draw the lines of <can't make out>
we feel so glad to be
<can't make out>
I have a message from another time.

Astronaut/Mission Control:
God speed.
<Line I can't make out>
-- Countdown to launch

Actually the track's name is "Prologue" on Brave Saint Saturn's album titled "So Far From Home":
Just on the border of the waking mind-
There lies...another time-
Where darkness and light are one-
And as you tread the halls of sanity-
You feel so glad to be...unable to go on-
I have a message from another time.

Apparently the above is from the prologue of an Anime/Manga called "Neverwhere: Far and Close"