Parsing text written the millitext font Reading the text of the millitext font

There is a font here that fits each character into a single, 1x5 pixel block. It does this (assuming you're using an LCD screen) by using the RGB channels of each pixel to expand the one pixel into three subcolumns, one for each channel. Your task is to take in a string of text encoded in this font and 'decode' it.

Millitext Alphabet

CHARACTER: 0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ
ENCODING:  WYWBMRRMMMWYWYWWWMWBMRMYGYGYCWMMMMMW
           MGBWMRRMMMMMRMRRRMGBMRWMMMMMRGMMMMMB
           MGWWWWWBWWWYRMWWMWGBYRWMMYMYGGMMWGGG
           MGRBBBMBMBMMRMRRMMGBMRMMMRWMBGMCWMGR
           WWWWBWWBWWMYWYWRWMWWMWMMGRCMYGWBMMGW


I've abbreviated each color to a one character symbol (R=red, G=green, B=blue, C=cyan, Y=yellow, M=magenta, W=white).

Input Format

The input format for this is pretty open. You can have the input be an array containing each column, an array containing each row, a char[][], or anything like that. You can also choose to use the full words "red", "green", "blue", with uppercase/lowercase of your choice (but it must be consistent for each word! You cannot use "RED" and also do "green" or "Blue").

If your language happens to support it, you can also have input be colors (however that might work, I don't know off-hand).

You can assume that the input will ONLY contain encoded characters in the alphabet above (in particular, there will be no spaces or punctuation in your output).

Output Format

You can either output a string or some sort of character array. You can chose whether the letters are uppercase or lowercase, but they must all have the same case.

Example

MWRRGMGYRY
MRRRMMMMRM
WWRRMWMYRM -&gt; HELLOWORLD
MRRRMWMMRM
MWWWGMGMWY


Rules

This is code-golf, so shortest answer wins!

Test set

WMWGMWWMYYGMYWGMBMMYWYGMWYWMWRWWMYGW
GMRMMGRMMMMMMRMMBMWMRMMMRMGMRRMBMMMR
GWWMMGRYYYMWMWMGBMWYWMMMWYGWWRWGGMMM -&gt; THEQUICKBROWNFOXJUMPEDOVERTHELAZYDOG
GMRWMGRMMMMWMRMMBMMRRMMCRMGMRRMRGMMM
GMWCWWWMYMGMMRGMWWMRWYGBWMGMWWMWGYGW
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!