PHP, 294 Bytes
==============

    <?$l=" 00000YE00G0000R000A0Q0000C0BW000K00000000000LT00000J00000000MU0000Z0000DI000000V0000000P00H0000ONF000S00X";preg_match_all("#(.{5})\s#s","$_GET[0] ",$t);for($i=0;$i<$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;

[Try it online!](https://tio.run/nexus/php#jVXbbtswDH3XVxCiBtiLkSnr5SU1hl267r51666OETiOtwTInCB2n4p@eyrZUiPJclAhoRiKlI4OSeXs2Wax2bEspggACCgHSB2UlCZQo/VpLdhK7YJA1A5GLJpRhu5KZSfqdHNnzw64j3U88WEYEPAABpMHQ/by4PgDHRPCZjFVAYY0tusARRMqMY80qVOrxi9PrAGuc24DLtfg0HECz409fPRxdiC30HdVQP3RmempAjQQqgtqnKYX2uQ8HJtNJXaxOdXh5c3oGIc3cCxSb5Ix163XlxJwDjgg28rCgz52CTurHXaIv91sCqy0ohbYTT1RabMTgJ6SsHdrGlaH3AvitqGqIKs9tb@L0zrnvjMKkYwO9eC8btYFCHZfQwDV4J76Ip63Vb8af9fbIssXQcKyiM0ilkdsHrEizSo2vTi/Snga3hBWxVQ4F/liDXRSTkq9NimbK6xEc3M5fp9zfiGVr@L7nF9K9SV/8VNM7/l@fLhqpnf698fvUv6R4tXb1vRDLX3h/I2cP396LeQ3zn@JEzfb4t/0f1bni2m2WgUUg@HNyW04qbCiEdXggEasDsfyigFbxnzMlmfiHcrX12UdiL8fViejNHxyIuyDQUgAWDWM2SqZLct5kQdVva1FYJawZTpspgHLtfb08V4/MvRjqUfiqRM4@IiG4aMRP01b6lgluCLklux2dw "PHP – TIO Nexus")

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=0;$i<$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