Another way of doing this might be to encode to binary types such as signed/unsigned ints, and manually decode as at http://snippets.dzone.com/posts/show/685 which would require server side code to create the binary data.
You could then huffman compression or something similar like RLE (see http://rosettacode.org/wiki/Run-length_encoding#JavaScript for an implementation, though it may have some issues in IE without modifying) to compress the data further.
EDIT:
Alternatively, you could convert the numbers themselves to a base (radix) in the unencoded URI character range (see http://en.wikipedia.org/wiki/Percent-encoding) which should work well if many of the numbers are larger than 2 digits. I converted the code at http://code.activestate.com/recipes/111286-numeric-base-converter-that-accepts-arbitrary-digi/ from python to do this.
It currently doesn't handle floats, but it could be done fairly easily:
function get_map(s) {
    d = {}
    for (var i=0; i<s.length; i++) {
        d[s.charAt(i)] = i}
    d.length = s.length
    d._s = s
    return d}
var separate_with = '~';
var encodable = get_map('ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789_.'); // - is reserved for negatives obviously :-P
var base10 = get_map('0123456789')
// UNCOMMENT ME for length/speed testing in a wider base!
// You may wish to experiment with the ranges for a happy medium between bandwidth and DB space :-P
/*var encodable = ''
for (var i=1; i<128; i++) {
    encodable += String.fromCharCode(i)
}
encodable = get_map(encodable)*/
function baseconvert(number, fromdigits, todigits) {
    var number = String(number)
    if (number.charAt(0) == '-') {
        number = number.slice(1, number.length)
        neg=1}
    else {
        neg=0}
    // make an integer out of the number
    var x = 0
    for (var i=0; i<number.length; i++) {
        var digit = number.charAt(i)
        x = x*fromdigits.length + fromdigits[digit]
    }
    // create the result in base 'todigits.length'
    res = ""
    while (x>0) {
        remainder = x % todigits.length
        res = todigits._s.charAt(remainder) + res
        x = parseInt(x/todigits.length)
    }
    if (neg) res = "-"+res
    return res
}
function encodeNums(L) {
    var r = []
    for (var i=0; i<L.length; i++) {
         r.push(baseconvert(L[i], base10, encodable))
    }
    return r.join(separate_with)
}
function decodeNums(s) {
    var r = []
    var s = s.split(separate_with)
    for (var i=0; i<s.length; i++) {
         r.push(parseInt(baseconvert(s[i], encodable, base10)))
    }
    return r
}
var test = [5, 654645, 24324, 652124, 65, 65289543, 65278432, 643175874158, 652754327543]
alert(encodeNums(test))
alert(decodeNums(encodeNums(test)))