Code is available in htbin/src/util.c which will do this function for
you; see the functions plustospace and
unescape_url.  
/bin/sh 
There is a program called unescape in the
support directory of the httpd distribution. Usage is
unescape [-e] url, where url is the information the
server sends you, and the -e flag is to tell the program if it should
put backslashes in front of shell characters. The program will output
the decoded url.  
To see how to use the given functions, see the query source.
 
To see how to use unescape in a shell script,
see the calendar source.
Move on to environment
variables 
NCSA httpd Development Team
httpd@ncsa.uiuc.edu