If you're using the AFS kaserver, you use the klog program to obtain tokens.
To authenticate against a normal krb4 (MIT kerberos 4, CNS, etc) or krb5 (MIT krb5, Cygnus Kerbnet, Heimdal, etc) KDC, you use the aklog ("athena klog") program.
The kaserver is easiest to set up, but the most limiting. It is less maintained than any of the krb5 distributions available. Many of us wish it would go away.
Recommendation for new AFS sites is to deploy a krb5 KDC, not the kaserver. Support for this is getting better but still far from perfect.
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