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CARLSBAD, Calif. — A small plane made an emergency landing on Interstate 5 in Carlsbad Thursday night after experiencing engine trouble, but the two occupants were not injured, authorities said.

The pilot and his passenger were traveling from El Monte to Carlsbad when, about two miles from the McClellan-Palomar Airport, the pilot reported engine trouble and the cockpit “filled with smoke,” according to a tweet from City of Carlsbad officials.

The pilot landed the single-engine Cessna 182 around 7:15 p.m. in the freeway’s southbound lanes, south of Tamarack Avenue, according to the Federal Aviation Administration.

The aircraft’s landing gear gave out, causing the plane to skid to a stop, but it remained upright and didn’t hit any vehicles. The pilot and their single passenger were unhurt, according to California Highway Patrol.

All southbound lanes were temporarily closed. By Friday morning, traffic was back to normal.

Late Thursday, crews were still working to remove the aircraft from the scene. The FAA and National Transportation Safety Board were investigating what led up to the crash-landing.