PHP, 290 Bytes

<?$l=" 00000YE00G0000R000A0Q0000C0BW000K00000000000LT00000J00000000MU0000Z0000DI000000V0000000P00H0000ONF000S00X";preg_match_all("#(.{5})\s#s","$_GET[0] ",$t);for(;$i<$c=count($a=$t[1])/5;$i++)$s.=$l[bindec(strtr($a[$i].$a[$i+$c].$a[$i+2*$c].$a[$i+3*$c].$a[$i+4*$c]," #","01"))%106];echo$s;

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Expanded

$l=" 00000YE00G0000R000A0Q0000C0BW000K00000000000LT00000J00000000MU0000Z0000DI000000V0000000P00H0000ONF000S00X"; # search string mod 106
preg_match_all("#(.{5})\s#s","$_GET[0] ",$t); # Regex take each group of five chars followed by a whitespace
for(;$i<$c=count($a=$t[1])/5;$i++)
  $s.=$l[bindec(strtr($a[$i].$a[$i+$c].$a[$i+2*$c].$a[$i+3*$c].$a[$i+4*$c]," #","01"))%106]; # join each groups make a binaray make a decimal mod 106  
echo$s; # Output