If I could point out what I had said before in a different thread,
http://www.chiefdelphi.com/forums/sh...hreadid=141458
People need to stop thinking that they need to select the most difficult defenses(at least for Qualification rounds). similarly the defenses will change drastically based on the robots that you are facing, as each team will have designed their robot for their specific defenses.
The longest traverse time from my estimates of any obstacle would be the Portcullis at about 5-15 seconds depending on lift speed as well as robot height. after this the next longest would be Sally Port / Drawbridge from the outside without inside assistance. these would take about 5-10 seconds. Low bar is about 2 seconds if you can do it and the terrain defenses vary from 3-7 seconds.