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The Yale VPN uses Cisco AnyConnect.
If Cisco's Linux client works for you, congratulations.
If, like me, the official client leaves you stranded, then you need to install
OpenConnect and (assuming you are using Network Manager) the appropriate add-on for the NM applet.
On a Debian-based system, you can type the following command:
$ sudo apt-get install openconnect network-manager-openconnect network-manager-openconnect-gnome