updated 12/20/2005 10:14:16 PM ET 2005-12-21T03:14:16

A Midwest Airlines jet experiencing problems with its landing gear made a successful landing after returning to Boston's Logan Airport Tuesday evening.

The plane landed safely at about 9:54 p.m. ET as sparks sprayed from its landing gear after it circled for more than two hours to burn fuel.

Midwest Flight 210 was scheduled to fly to Milwaukee. The plane, a Boeing 717-200, carried 86 passengers, two pilots and two flight attendants, Midwest's Randy Smith told MSNBC TV's Rita Cosby.

Smith said sparks were seen at the rear of the plane at takeoff, and lights in the cockpit indicated that a landing gear had not fully retracted and that a landing gear door had not fully closed.

The plane was scheduled to take off at 7:15 p.m. ET but was 13 minutes late in departing, according to the Midwest Web site. It was scheduled to arrive in Milwaukee at 8:52 p.m. CT.

The passengers remained aboard the plane after landing, and it was towed from the runway to the terminal.

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