Enabling 'debug = 9' in opensc.conf produces a lot of output, here's 
the tail:

0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] card.c:727:sc_read_record: called
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] apdu.c:563:sc_transmit_apdu: called
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] card.c:352:sc_lock: called
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] apdu.c:530:sc_transmit: called
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] apdu.c:384:sc_single_transmit: 
called
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] apdu.c:389:sc_single_transmit: 
CLA:0, INS:B2, P1:1, P2:4, data(0) (nil)
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] reader-pcsc.c:251:pcsc_transmit: 
reader 'OMNIKEY CardMan 6121 00 00'
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] apdu.c:187:sc_apdu_log: 
Outgoing APDU data [    5 bytes] =====================================
00 B2 01 04 00 .....
======================================================================
0x7f7e0d56a700 16:02:04.317 [opensc-pkcs11] 
reader-pcsc.c:184:pcsc_internal_transmit: called
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] apdu.c:187:sc_apdu_log: 
Incoming APDU data [    2 bytes] =====================================
6A 83 j.
======================================================================
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] apdu.c:399:sc_single_transmit: 
returning with: 0 (Success)
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] apdu.c:552:sc_transmit: returning 
with: 0 (Success)
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] card.c:392:sc_unlock: called
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] card-cardos.c:278:cardos_check_sw: 
record not found
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] iso7816.c:210:iso7816_read_record: 
returning with: -1202 (Record not found)
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] card.c:733:sc_read_record: 
returning with: -1202 (Record not found)
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] card.c:392:sc_unlock: called
0x7f7e0d56a700 16:02:04.322 [opensc-pkcs11] reader-pcsc.c:556:pcsc_unlock: 
called
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] pkcs15.c:2397:sc_pkcs15_read_file: 
returning with: 0 (Success)
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] pkcs15.c:2098:sc_pkcs15_parse_df: 
returning with: 0 (Success)
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:728:pkcs15_create_pkcs11_objects: Found 0 data objects
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:836:pkcs15_bind_related_objects: Looking for objects related 
to object 0
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:743:__pkcs15_prkey_bind_related: Object is a private key and 
has id 69f9f837c4ef0c6eae38d61873dde123da79343a
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:768:__pkcs15_prkey_bind_related: Associating object 6 as 
public key
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:530:sc_asn1_encode_algorithm_id: called
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:531:sc_asn1_encode_algorithm_id: type of algorithm to encode: 0
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:545:sc_asn1_encode_algorithm_id: encode algo 1.2.840.113549.1.1.1
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1546:asn1_encode_entry:  
encoding 'algorithm'
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1551:asn1_encode_entry:  
type=6, tag=0x06, parm=0xc138f4, len=0
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1729:asn1_encode_entry:  
length of encoded item=11
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1546:asn1_encode_entry:  
encoding 'nullParam'
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1551:asn1_encode_entry:  
type=5, tag=0x05, parm=(nil), len=0
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1729:asn1_encode_entry:  
length of encoded item=2
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:580:sc_asn1_encode_algorithm_id: return encoded algorithm ID: 
06092A864886F70D0101010500
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:581:sc_asn1_encode_algorithm_id: returning with: 0 (Success)
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:489:sc_asn1_decode_algorithm_id: called
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1443:asn1_decode:  called, 
left=13, depth 1
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1467:asn1_decode: Looking 
for 'algorithm', tag 0x6
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1259:asn1_decode_entry:  
decoding 'algorithm'
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1467:asn1_decode: Looking 
for 'nullParam', tag 0x5, OPTIONAL
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1259:asn1_decode_entry:  
decoding 'nullParam'
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] asn1.c:1516:asn1_decode: returning 
with: 0 (Success)
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:497:sc_asn1_decode_algorithm_id: decoded OID 
'1.2.840.113549.1.1.1'
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-algo.c:514:sc_asn1_decode_algorithm_id: returning with: 0 (Success)
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
pkcs15-pubkey.c:1131:sc_pkcs15_dup_pubkey: returning with: 0 (Success)
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:836:pkcs15_bind_related_objects: Looking for objects related 
to object 1
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:743:__pkcs15_prkey_bind_related: Object is a private key and 
has id b05340a04f8a678d0058912ca1ac4c92037d7068
0x7f7e0d56a700 16:02:04.326 [opensc-pkcs11] 
framework-pkcs15.c:768:__pkcs15_prkey_bind_related: Associating object 7 as 
public key
pkcs11-tool: pkcs15-pubkey.c:1064: sc_pkcs15_dup_pubkey: Assertion `key && out' 
failed.
zsh: abort      pkcs11-tool -O

b05340a04f8a678d0058912ca1ac4c92037d7068 is indeed the ID of the 
private and public keys that have no matching certificate file.


HTH,
    dam


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