 #define WIND_LOOKAHEAD 10
 
 // either side of 0 for "in irons"
-#define IRONS 40
+#define IRONS 45
 #define IN_IRONS(v) (((v) < IRONS || (v) > (360 - IRONS)))
 #define TACK_TIMEOUT 10000
 


// minimum speed needed to establish course (knots)
#define MIN_SPEED 1.0

// how close you have to get to the waypoint to consider it hit
#define GET_WITHIN 5

    logln("Checking sail trim");
    if (abs(current_roll) > START_HEEL_COMP)
      heel_adjust = min(MAX_HEEL_COMP, 2 * (abs(current_roll) - START_HEEL_COMP));
    else if (heel_adjust > MIN_HEEL_COMP)
      heel_adjust = heel_adjust * HEEL_COMP_DECAY;
    else
      heel_adjust = 0;

    float new_winch = map(abs(wind - 180), 30, 170, WINCH_MIN, WINCH_MAX) - heel_adjust;
    
