We provide torque formulae for low mass planets undergoing type I migration in gaseous disks. These torque formulae put special emphasis on the horseshoe drag, which is prone to saturation: the asymptotic value reached by the horseshoe drag depends on a balance between coorbital dynamics (which tends to cancel out or saturate the torque) and diffusive processes (which tend to restore the unperturbed disk profiles, thereby desaturating the torque). We entertain here the question of this asymptotic value, and we derive torque formulae which give the total torque as a function of the disks viscosity and thermal diffusivity. The horseshoe drag features two components: one which scales with the vortensity gradient, and one which scales with the entropy gradient, and which constitutes the most promising candidate for halting inward type I migration. Our analysis, which is complemented by numerical simulations, recovers characteristics already noted by numericists, namely that the viscous timescale across the horseshoe region must be shorter than the libration time in order to avoid saturation, and that, provided this condition is satisfied, the entropy related part of the horseshoe drag remains large if the thermal timescale is shorter than the libration time. Side results include a study of the Lindblad torque as a function of thermal diffusivity, and a contribution to the corotation torque arising from vortensity viscously created at the contact discontinuities that appear at the horseshoe separatrices. For the convenience of the reader mostly interested in the torque formulae, section 8 is self-contained.
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