The Transrapid maglev train was developed in Germany. Its only line in regular service opened at the end of 2002 in Shanghai. In Germany, three planned lines were abandoned after years of planning. In September 2006 a Transrapid on the test track in Emsland ran into a maintenance vehicle, and 23 people died. The cause was found to be human error. On 27 March 2008 the federal transport minister, Wolfgang Tiefensee, and the Bavarian premier, Günther Beckstein, ended the planned line to Munich airport. Its estimated cost had risen from 1.85 to 3.4 billion euros. Beckstein said: Damit hat sich das Thema leider erledigt. (With that, the matter is unfortunately closed.) The test track in Emsland was shut down at the end of 2011.