[MaHuJa]

The easy way out, is to use the autotma. Given enough time, it'll give you a dead-on solution.

Manually, things are a bit more complicated. But all in all, the extra legs are pretty much a requirement. It's a bit hard to explain, at least without illustrations, but there is a saying of sorts; that a change in bearing rate is needed for a good solution. By changing your own course or speed, you're forcing that bearing rate change. The more radical the change, the better.

Personally, I only exceptionally start working on a solution before well into a second leg.