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There has been work in this area but maybe needs more:
3818 - CIP Safety: Update CRC S5 Logic

The supplied capture can be trimmed with cip.connection == 1

cipsafety.crc_s5.status == "Bad" occurs when the timestamp rolls (cipsafety.timestamp == 0) to exactly 0. It rolls several times before this but not with a timestamp of 0.
(coincidence ?)

frame.number == 211809 (Good)
No. Time    Source  Destination Length  Protocol    Total Length    CRC S5 Status   Timestamp   CIP Connection Index    Info
211809  163.544275  192.168.1.37    192.168.1.252   67  CIP Safety  53  Good    65490   1   Connection: ID=0x80AD0082, SEQ=0000023521, O->T

frame.number == 211817 (Bad)
211817  163.550496  192.168.1.37    192.168.1.252   67  CIP Safety  53  Bad 0   1   Connection: ID=0x80AD0082, SEQ=0000023522, O->T

Update: known issue (14939 - CIP Safety: CRC check is incorrect when timestamp rolls over to zero)

There has been work in this area but maybe needs more:
3818 - CIP Safety: Update CRC S5 Logic

The supplied capture can be trimmed with cip.connection == 1

cipsafety.crc_s5.status == "Bad" occurs when the timestamp rolls (cipsafety.timestamp == 0) to exactly 0. It rolls several times before this but not with a timestamp of 0.
(coincidence ?)

frame.number == 211809 (Good)
No. Time    Source  Destination Length  Protocol    Total Length    CRC S5 Status   Timestamp   CIP Connection Index    Info
211809  163.544275  192.168.1.37    192.168.1.252   67  CIP Safety  53  Good    65490   1   Connection: ID=0x80AD0082, SEQ=0000023521, O->T

frame.number == 211817 (Bad)
211817  163.550496  192.168.1.37    192.168.1.252   67  CIP Safety  53  Bad 0   1   Connection: ID=0x80AD0082, SEQ=0000023522, O->T