Apply a gain that is dependent on how far out an object is. Often, objects that are further out in time produce a weaker echo response and objects that are closer produce a stronger echo response. To combat this, to prevent saturation of the close signals, and to be able to identify the further objects, one can choose to gain the system such that a small gain is applied early in time, and a larger gain is applied further out in time. This gives the user flexibility to configure the gain based on the system requirements.