function Decoder(bytes, port) {

// Decode an uplink message from a buffer

// (array) of bytes to an object of fields.



var latitude;//gps latitude,units: °

  latitude=(bytes[0]<<24 | bytes[1]<<16 | bytes[2]<<8 | bytes[3])/1000000;//gps latitude,units: °



var longitude;

  longitude=(bytes[4]<<24 | bytes[5]<<16 | bytes[6]<<8 | bytes[7])/1000000;//gps longitude,units: °



var alarm=(bytes[8] & 0x40)?"TRUE":"FALSE";//Alarm status





var batV=(((bytes[8] & 0x3f) <<8) | bytes[9])/1000;//Battery,units:V



if((bytes[10] & 0xC0)==0x40)

{

  var motion_mode="Move";

}

else if((bytes[10] & 0xC0) ==0x80)

{

  motion_mode="Collide";

}

else if((bytes[10] & 0xC0) ==0xC0)

{

  motion_mode="User";

}

else

{

  motion_mode="Disable";

}                                            //mode of motion



var led_updown=(bytes[10] & 0x20)?"ON":"OFF";//LED status for position,uplink and downlink



var Firmware = 160+(bytes[10] & 0x1f);  // Firmware version; 5 bits 





var roll=(bytes[11]<<24>>16 | bytes[12])/100;//roll,units: °





var pitch=(bytes[13]<<24>>16 | bytes[14])/100; //pitch,units: °



var hdop = 0;

if(bytes[15] > 0)

{

   hdop =bytes[15]/100; //hdop,units: °

}

else

{

   hdop =bytes[15];

}



var altitude =(bytes[16]<<24>>16 | bytes[17]) / 100; //Altitude,units: °



return {

Latitude: latitude,

Longitude: longitude,

Roll: roll,

Pitch:pitch,

BatV:batV,

ALARM_status:alarm,

MD:motion_mode,

LON:led_updown,

FW:Firmware,

HDOP:hdop,

Altitude:altitude,

};

}