I used a modified set of steps found on the PfSense docs site to install a 
serial version PfSense on my Soekris Net6501 

- PfSense Instructions on writing to USB and/or CF cards

http://doc.pfsense.org/index.php/HOWTO_Install_pfSense


1. download pfsense - 
http://files.chi.pfsense.org/jimp/pfSense-memstick-serial-2.0.1-RELEASE-i386.img.gz
2. write the pfSense installer image to a USB drive (see below)
3. Once completed, unnount the image
4. Connect your serial cable and load serial kernel driver (if required)
5. Use your terminal tool (i use minicom) and set your speed to 9600N1
6. Insert USB drive into Soekris 6501 (latest versions allow for USB booting)
7. Control P  - to exit to console
8. Boot 81 - which boots the USB drive
9. Wait a while, and PfSense installer will come up - use it to install PfSense 
your Soekris device (with SSD, internal USB, and/or hard drive)

regards

Robert


Mac OS X
Tested on 10.3.9 and later. It is recommended that you disconnect all disks 
except for your startup disk before carrying out this procedure, as an error in 
specifying the drive to be written to could cause data loss.

        • Plug in your CF reader with CF card inserted ( OR USB Drive)
        • If OS X pops up a message saying that the card could not be read, 
click Ignore.
        • Open Disk Utility
        • Select any Partitions of your CF Card that are mounted, and click the 
unmount button. The partitions should now appear greyed out.
        • Select your CF Card Reader in the left-hand column, and click the 
Info button
        • Note the 'Disk Identifier': e.g. 'disk1'
        • Open Terminal
        • cd to the directory containing the pfSense image
        • Use this command: gzcat 
pfSense-memstick-serial-2.0.1-RELEASE-i386.img.gz | dd of=/dev/disk[n] bs=16k

NB: disk[n] is the Disk Identifier found above
Or an alternative to do it entirely from command line.

$ diskutil list
/dev/disk0
  #:                       TYPE NAME                    SIZE       IDENTIFIER 
  0:      GUID_partition_scheme                        *298.1 Gi   disk0
  1:                        EFI                         200.0 Mi   disk0s1
  2:                  Apple_HFS Macintosh HD            297.8 Gi   disk0s2
/dev/disk1
  #:                       TYPE NAME                    SIZE       IDENTIFIER
  0:        CD_partition_scheme 30 Days To Great French *521.4 Mi   disk1
  1:                      CD_DA                         7.8 Mi     disk1s1
/dev/disk2
  #:                       TYPE NAME                    SIZE       IDENTIFIER
  0:      GUID_partition_scheme                        *90.0 Mi    disk2
  1:                  Apple_HFS Processing              90.0 Mi    disk2s1
/dev/disk3
  #:                       TYPE NAME                    SIZE       IDENTIFIER
  0:     FDisk_partition_scheme                        *978.5 Mi   disk3
  1:                 DOS_FAT_32 UNTITLED                978.4 Mi   disk3s1

$ diskutil umount disk3

$ gzcat pfSense-memstick-serial-2.0.1-RELEASE-i386.img.gz | dd of=/dev/disk3 
bs=16k

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