X = [
   -0.7783   21.4885
   14.6672    6.7159
   -8.3475  -13.7310
   -6.8840  -14.5970
   13.4167   -7.7091
  -16.0429    9.2865
  -24.1829   -0.8947
    8.9161  -18.3074
];
