diff --git a/internal/core/path.go b/internal/core/path.go
index fb0508b2..068fb282 100644
--- a/internal/core/path.go
+++ b/internal/core/path.go
@@ -39,7 +39,8 @@ func (e pathErrNoOnePublishing) Error() string {
 }
 
 type pathErrAuthNotCritical struct {
-	*base.Response
+	Message  string
+	Response *base.Response
 }
 
 // Error implements the error interface.
diff --git a/internal/core/rtsp_conn.go b/internal/core/rtsp_conn.go
index daede0d7..34092842 100644
--- a/internal/core/rtsp_conn.go
+++ b/internal/core/rtsp_conn.go
@@ -147,6 +147,7 @@ func (c *rtspConn) authenticate(
 
 			v := "IPCAM"
 			return pathErrAuthNotCritical{
+				Message: "unauthorized: " + err.Error(),
 				Response: &base.Response{
 					StatusCode: base.StatusUnauthorized,
 					Header: base.Header{
@@ -253,6 +254,7 @@ func (c *rtspConn) onDescribe(ctx *gortsplib.ServerHandlerOnDescribeCtx,
 	if res.Err != nil {
 		switch terr := res.Err.(type) {
 		case pathErrAuthNotCritical:
+			c.log(logger.Debug, "non-critical authentication error: %s", terr.Message)
 			return terr.Response, nil, nil
 
 		case pathErrAuthCritical:
diff --git a/internal/core/rtsp_session.go b/internal/core/rtsp_session.go
index c0c4e2c0..43f77a68 100644
--- a/internal/core/rtsp_session.go
+++ b/internal/core/rtsp_session.go
@@ -168,6 +168,7 @@ func (s *rtspSession) onAnnounce(c *rtspConn, ctx *gortsplib.ServerHandlerOnAnno
 	if res.Err != nil {
 		switch terr := res.Err.(type) {
 		case pathErrAuthNotCritical:
+			s.log(logger.Debug, "non-critical authentication error: %s", terr.Message)
 			return terr.Response, nil
 
 		case pathErrAuthCritical:
@@ -226,6 +227,7 @@ func (s *rtspSession) onSetup(c *rtspConn, ctx *gortsplib.ServerHandlerOnSetupCt
 		if res.Err != nil {
 			switch terr := res.Err.(type) {
 			case pathErrAuthNotCritical:
+				s.log(logger.Debug, "non-critical authentication error: %s", terr.Message)
 				return terr.Response, nil, nil
 
 			case pathErrAuthCritical: