Thank you KellyLi
I'm executing the MIFARE_AUTHENTICATE command on the Mifare Classic section in Mifare Plus Ev1 card with 7 byte UID.
I eventually found AN10927 (MIFARE Product and UID Processing) which explains that the lower 4 bytes of the 7-byte UID should be used.
Some of the card readers I'm working with use PN5180 and some use CRLC663. When I use the lower 4 bytes for authentication, the PN5180 works fine, but the CRLC663 gives me an error. What could be the issue?