GFSK
From SatNOGS Wiki
Introduction
GFSK is an acronym for Gaussian frequency-shift keying. Rather than directly modulating the frequency with the digital data symbols, "instantaneously" changing the frequency at the beginning of each symbol period, Gaussian frequency-shift keying (GFSK) filters the data pulses with a Gaussian filter to make the transitions smoother. This filter has the advantage of reducing sideband power, reducing interference with neighboring channels, at the cost of increasing intersymbol interference.
Waterfalls
Example waterfalls below: