Another soil type?

We have slopes and even with the slope settings it doesn’t cycle and soak long enough for us. Aside from the slopes our soil is very compacted so the water penetration is really slow. As a result we (and this can be another option for some) implement the manual cycle and soak. We put out 2 cycles of 12 minutes of watering and then 9 minutes as a 3rd cycle. I could probably get this down to 2 cycles but I rather do it this way so that I know the water is getting deep. Additionally with this method we do not see a lot of water pooling like we did before, which eventually turned into runoff and wasted the water.