The same problem for me with the bacula package (V7.0.5) on pfsense 2.2.2
Here is the debug output. The same fd-config works fine on raspberry with 
bacula-fd 5.2

> Simplest thing to debug these kind of problems is run the fd on the pfsense
> box using bacula-fd -f -d 200
> 

bacula-fd: filed_conf.c:530-0 Inserting director res: bareos-mon
bacula-fd: address_conf.c:264-0 Initaddr 0.0.0.0:9102
pfsense2-fd: jcr.c:128-0 read_last_jobs seek to 192
pfsense2-fd: jcr.c:135-0 Read num_items=0
pfsense2-fd: fd_plugins.c:1095-0 plugin dir is NULL
pfsense2-fd: filed.c:250-0 filed: listening on port 9102
pfsense2-fd: bnet_server.c:87-0 Addresses 0.0.0.0:9102
pfsense2-fd: bnet.c:566-0 who=client host=Hostname not found port=9102
pfsense2-fd: job.c:494-0 Got: Hello Director bareos-dir calling
pfsense2-fd: job.c:280-0 <dird: Hello Director bareos-dir calling
pfsense2-fd: job.c:303-0 Executing Dir Hello Director bareos-dir calling
 command.
pfsense2-fd: job.c:535-0 Calling Authenticate
pfsense2-fd: cram-md5.c:60-0 send: auth cram-md5 challenge 
<131847113.1451638026@pfsense2-fd> ssl=0
pfsense2-fd: cram-md5.c:119-0 cram-get received: auth cram-md5 
<2092838083.1451638026@bareos-dir> ssl=0
pfsense2-fd: cram-md5.c:139-0 sending resp to challenge: /4/Yv0Z+D/hbG2/du71mMB
pfsense2-fd: job.c:539-0 OK Authenticate
pfsense2-fd: job.c:280-0 <dird: JobId=20 
Job=pfsense2-job.2016-01-01_08.47.03_22 SDid=3 SDtime=1451636979 
Authorization=EKEB-JPCP-GKHP-FCBC-HGBA-HPHL-KLIG-ECNB
pfsense2-fd: job.c:303-0 Executing Dir JobId=20 
Job=pfsense2-job.2016-01-01_08.47.03_22 SDid=3 SDtime=1451636979 
Authorization=EKEB-JPCP-GKHP-FCBC-HGBA-HPHL-KLIG-ECNB
 command.
pfsense2-fd: job.c:1840-0 set sd auth key 
EKEB-JPCP-GKHP-FCBC-HGBA-HPHL-KLIG-ECNB
pfsense2-fd: job.c:712-0 JobId=20 Auth=EKEB-JPCP-GKHP-FCBC-HGBA-HPHL-KLIG-ECNB
pfsense2-fd: fd_plugins.c:1192-0 plugin list is NULL
pfsense2-fd: job.c:280-0 <dird: level = full  mtime_only=0
pfsense2-fd: job.c:303-0 Executing Dir level = full  mtime_only=0
 command.
pfsense2-fd: job.c:1675-0 level_cmd: level = full  mtime_only=0
pfsense2-fd: job.c:280-0 <dird: fileset vss=1
pfsense2-fd: job.c:303-0 Executing Dir fileset vss=1
 command.
pfsense2-fd: job.c:1252-0 I
pfsense2-fd: job.c:1252-0 O Mc
pfsense2-fd: job.c:1252-0 N
pfsense2-fd: job.c:1252-0 F /
pfsense2-fd: job.c:1252-0 F /dev
pfsense2-fd: job.c:1252-0 F /boot
pfsense2-fd: job.c:1252-0 N
pfsense2-fd: job.c:1252-0 N
pfsense2-fd: job.c:1252-0 E
pfsense2-fd: job.c:1252-0 F /proc
pfsense2-fd: job.c:1252-0 F /sys
pfsense2-fd: job.c:1252-0 F /tmp
pfsense2-fd: job.c:1252-0 F /run
pfsense2-fd: job.c:1252-0 F /var/lib/nfs
pfsense2-fd: job.c:1252-0 F /var/lock
pfsense2-fd: job.c:1252-0 F /var/run
pfsense2-fd: job.c:1252-0 F /media
pfsense2-fd: job.c:1252-0 N
pfsense2-fd: job.c:1252-0 N
pfsense2-fd: job.c:280-0 <dird: storage address=192.168.X.X port=9103 ssl=0
pfsense2-fd: job.c:303-0 Executing Dir storage address=192.168.X.X port=9103 
ssl=0
 command.
pfsense2-fd: job.c:1855-0 StorageCmd: storage address=192.168.X.X port=9103 
ssl=0
pfsense2-fd: job.c:1883-0 Connect to storage: 192.168.X.X:9103 ssl=0
pfsense2-fd: bsock.c:208-0 Current 192.168.X.X:9103 All 192.168.X.X:9103
pfsense2-fd: bsock.c:137-0 who=Storage daemon host=192.168.X.X port=9103
pfsense2-fd: bsock.c:310-0 OK connected to server  Storage daemon 
192.168.101.19:9103.
pfsense2-fd: job.c:1899-0 Connection OK to SD.
pfsense2-fd: authenticate.c:237-0 Send to SD: Hello Bacula SD: Start Job 
pfsense2-job.2016-01-01_08.47.03_22 5

pfsense2-fd: authenticate.c:240-0 ==== respond to SD challenge
pfsense2-fd: cram-md5.c:119-0 cram-get received: authenticate.c:76 Bad Hello 
command from Director at client: Hello Bacula SD: Start Job 
pfsense2-job.2016-01-01_08.47.03_22 5

pfsense2-fd: cram-md5.c:124-0 Cannot scan received response to challenge: 
authenticate.c:76 Bad Hello command from Director at client: Hello Bacula SD: 
Start Job pfsense2-job.2016-01-01_08.47.03_22 5

pfsense2-fd: authenticate.c:247-0 cram_respond failed for SD: Storage daemon
pfsense2-fd: job.c:306-0 Quit command loop. Canceled=1
pfsense2-fd: runscript.c:96-0 runscript: running all RUNSCRIPT object 
(ClientAfterJob) JobStatus=f
pfsense2-fd: job.c:417-0 Calling term_find_files
pfsense2-fd: job.c:420-0 Done with term_find_files
pfsense2-fd: jcr.c:171-0 write_last_jobs seek to 192
pfsense2-fd: job.c:423-0 Done with free_jcr

Thomas

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