Do Something Relative to Animation Time

I have 2d firing animation. I want to create and move the bullets towards enemy and I want to make this happen when at a certain time of the animation. I can access to animation time by using:

 soldierAnimator.runtimeAnimatorController.animationClips[1].length

Also I am using coroutine to do what I want. Is there any easier or effective way to do this?

 void fireTo(Enemy e){
 
         soldierAnimator.SetBool("isReloaded", true);
         soldierAnimator.SetBool("isInRange", true);
         StartCoroutine("waitIt", e);
 
 
     }
 
     IEnumerator waitIt(Enemy e){
         yield return new WaitForSeconds(0.5f);
         GameObject bulletGO = (GameObject)Instantiate(bulletPrefab, this.transform.position, this.transform.rotation);
 
         Bullet b = bulletGO.GetComponent<Bullet>();
         if(e != null) {
             b.getTarget = e.transform;
         }else{
             DestroyObject(b);
         }
 
     }