Parsing text written the millitext font
JavaScript (ES6),  103 100 93 92  90 bytes
Saved 9 bytes thanks to @ShieruAsakoto
Takes input as an array of columns. Returns an array of characters.

a=&gt;a.map(s=&gt;&quot;H-L-D--VGQ87MR6TZ-KJ9WC05BUXF1YI2EON3S-A-P4&quot;[parseInt(s,35)%1161%219%152%43])

Try it online!