A question about stances

So I got to do Asura Dance pretty consistently, like 95% of the time. I'm still struggling with FotD. What's the timing of the input?

Also, what's a delayed FotD?
 
still need some tips for the delayed FotD
any hints?
asura GB is easy for me

this is the 3 circle method i use. 3 non stop circles on the analog stick. start at 2 after first circle back to 2 input the grab, after the grab as your still rolling the stick just input the A then B inputs and it comes out delayed Fotd everytime. this method also works for a iFotd after certain moves. for instance after a 2a, u can buffer this method and it pops out with the iFotd. the circle motion has to be fairly quick with no pauses.
 
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