Jack,

The waypoints need to be entered sequentially into a route. Then you go to navigate and choose the route you want to navigate. It will start with the first waypoint in that route and once your VMG goes negative for that waypoint, it will automatically switch to the next one.

I usually setup a "day1" route and a "day2" route.

I use my GPS setup with a bearing to the next mark. This way I can look at my compass and tell if I'm headed right at it or at what kind of angles we're sailing to the next point. If it's a finish line, I watch our compass angles to the shore and make that last gybe when the bearing shown on the GPS matches that number.