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;

[Try it online!](https://tio.run/nexus/php#jVVbb9MwFH73rzjyMVJCo@IyxktXIS5jsCuXwQZpVKVpoJVKWjXZ07TfXuzEXm3HqWa1xycnx/bn71xy9GY9X29ZOqIIAAgoB0gdlJQmUKPxaSzYSO2CQNQOxlo0Vxm6K5WdqNPNnT074G6t44lPw4CAezCYPBiykwfHH@iQEDYdUbXAkMZ2LaBoQiXmkSZ16q3x5FlrgGudW4PLNDh0nMBzYw8fXZztiS10XRVQ/3RkOrIADYTqghqn6YU2OU/HZlOJbWxOdnh5MyrG4Q0ci9TrYMx06XWFBJwD9sgms3Cvj53CztsWO8RfbjYFVlhRC2yHnqiw2QFAT0rYu9UFq5c8CuKWocogqzy1v4vTOuexMnIRjBb14HQ36wIE290QQBW4J7@Ip7fqrvFntcnTbB7ELI3YNGJZxGYRy5O0ZJOT4@uYJ@E9ybP5Cui4GBfaOC5q7EtR1VyOX8ecn0jlm/i/5V@l@p6/uxHTGd@N8@t6OtXPFz@k/C3Fh8@N6ad69YXzT3K@uvwo5HfOb8WJ603@d/IvrbL5JF0uA4pB//7wIRyXWNKIanBAI1aFQ3m3YMgWR6L5ZKu7ogrEN4dV8SAJXxwKe68XEgBW9kdsGU8XxSzPgrLaVBvhF7NF0q@nHsu09vL5Tj8w9FdSj0R/Exj4gIbhswF/nQxr2lgpeCLkgWy3/wE "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<$c=count($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