A United Airlines plane bound for Minneapolis with 147 passengers and six crew on board was diverted Friday night when an unruly passenger tried to enter the cockpit. The flight was diverted to Dane County Regional Airport, Wisconsin for an emergency landing to remove the disruptive flyer. Authorities called in the FBI to deal with the situation.An FBI Milwaukee spokesperson said the agency was notified of the flight’s diversion. Its Madison office and local law enforcement responded to the airport.An official with the Dane County Sheriff’s Office confirmed that the aircraft had requested law enforcement assistance.“The Dane County Sheriff’s Office took one person into custody and passengers have since reboarded their flight,” an FBI spokesperson said.Flight UA2005, which originated from Chicago, “landed safely in Madison, Wisconsin to address a safety concern with an unruly passenger,” a United spokesperson said. No injuries were reported among the 147 passengers and six crew members on board the plane.Air traffic control audio obtained by NBC News captured a discussion between ground and flight personnel as law enforcement attended the incident.A crew member said, “I don’t believe they ever handcuffed him, but after several attempts to break into the cockpit they finally succeeded in getting control of him.” “I believe at this time he is sitting in a seat with law enforcement officers on either side of him.”The flight continued its journey to Minneapolis, landing early Saturday morning, according to FlightAware data.