Continuous phase modulation (CPM) is a method for modulation of data commonly used in wireless modems. In contrast to other coherent digital phase modulation techniques where the carrier phase abruptly resets to zero at the start of every symbol, with CPM the carrier phase is modulated in a continuous manner. For instance, with QPSK the carrier instantaneously jumps from a sine to a cosine whenever one of the two message bits of the current symbol differs from the two message bits of the previous symbol. This discontinuity requires a relatively large percentage of the power to occur outside of the intended band, leading to poor spectral efficiency. Furthermore, CPM is typically implemented as a constant-envelope waveform, i.e., the transmitted carrier power is constant. Therefore, CPM is attractive because the phase continuity yields high spectral efficiency, and the constant envelope yields excellent power efficiency. The primary drawback is the high implementation complexity required for an optimal receiver.