Disclaimer - Bermuda owner and I'm in B/CS. Hard to answer your question specifically as sun exposure, shade, amount of foot traffic, how high you cut your grass, etc. will all affect how much you need to water.
In general you want long deep soaks once a week to at most twice a week during summer. Avoid running the system for shorter periods of time 3-4 times a week. With deep watering, you get deeper root structure and healthier grass. How long you have to run the system to achieve that deep soak depends on your heads, water output, etc. You should pick up a few sprinkler water gauges and put them around the yard in areas that are green vs. dry. You can measure water deposition using these and adjust accordingly.
One good sign that you've achieved a good soak is that you can take a thin 8 inch shaft screw driver and easily insert it to the handle after a deep watering. Now, to get that deep watering don't run one zone for an hour. You'll saturate the top soil and produce a ton of run-off. You can set your system to run 20-30 minutes or so (adjusting to your output on your system), then give that zone a 2-3 hour rest, and hit it again at the same length of time. That gets a deeper soak and you don't have to water 3 times a week.
YMMV, also would help to get a local reputable crew to come out and check coverage, output, etc once a year. Or learn to do it yourself as time goes on. I do a lot of my repairs myself but still have a good crew come and do bigger jobs.