Like other comments my advice is entirely based only on my personal experience.
This link applies to the last 5 haulouts and antiouling done on my boat. The more recent jobs have more details on how, what and how much.
pekeri.com/cgi-sys/suspendedpage.cgi?page_id=191During the last 10 years I have kept any eye on ultrasonic antifoul systems and for my mind there are too many variables on installation and effectiveness. Opinions seem to be divided on its merit/value. If pursuing this option talk to boaties that have used the system for at least 5 years, do not rely on entirely on advice of suppliers (kind of like anchor manufactures and sellers - theirs is always the best)
Ultimately my decison to lift out of the water and apply antifoul is based on the opportunity to do a careful inspection of all items under the water, and clean/up & maintenance of rudder, bearings, posts and through hull fittings. I also like the look of the bottom after a new antifoul.
Cheers