BOSTON (AP) – A jetliner with a landing gear problem landed safely at Logan International Airport late Tuesday after circling the airport for nearly two hours.

Sparks could be seen coming from an area near the right landing gear as the plane landed just before 10 p.m., but the plane came to a stop without incident.

After Midwest Airlines Flight 210 took off at approximately 8:15 p.m., air traffic controllers reported seeing sparks at the rear of the plane, said Laura Brown, a spokeswoman for the Federal Aviation Administration.

The flight was headed to Milwaukee.

The Boeing 717 had 86 passengers and four crew members on board, Midwest spokeswoman Carol Skornicka said.

The pilot noticed a problem with the right landing gear shortly after takeoff, she said.

She said the plane spent a couple of hours circling to burn off excess fuel.

“We’re very gratified that the aircraft was landed safely and we’re very proud of the crew members that handled this with the professionalism that they’re trained to do,” she said.

The company plans an investigation, she said, adding that federal authorities are also expected to investigate.