I found the problem; in case somebody else runs into this and finds this post, 
here is the solution:

There seems to be a bug in bacula (3.0.x) related to IPv6. It only listens on 
IPv4, but establishes connections on IPv6 if an AAAA record is present (bacula 
bug report is filed with details). The Windows Firewall is not the culprit, but 
exposes the problem, probably because the failing IPv6 connection times out 
instead of being rejected.

The workaround is to do one of the following:


-          Turn off the Windows Firewall.

-          Create alternate DNS names for each machine involved that have only 
A but no AAAA records associated, and use these alternate names in the bacula 
configuration files.

From: Kevin Keane [mailto:subscript...@kkeane.com]
Sent: Monday, December 07, 2009 1:47 AM
To: bacula-users@lists.sourceforge.net
Subject: [Bacula-users] Windows client firewalling problem

I recently upgraded my bacula from 2.4 to 3.0. Almost everything works 
beautifully, except for one Windows 2008 Standard client machine (64 version). 
This machine is running the 64-bit version of winbacula 3.0.2. The directory 
and SD both are on other machines on the same subnet. The Windows server uses 
Microsoft's Windows Advanced firewall.

The error message is:

07-Dec 01:36 akechi-denki-fd JobId 435: Fatal error: Authorization key rejected 
by Storage daemon.
Please see 
http://www.bacula.org/en/rel-manual/Bacula_Freque_Asked_Questi.html#SECTION003760000000000000000
 for help.
07-Dec 01:36 akechi-denki-fd JobId 435: Fatal error: Failed to authenticate 
Storage daemon.
07-Dec 01:36 nctechcenter-dir JobId 435: Fatal error: Bad response to Storage 
command: wanted 2000 OK storage
, got 2902 Bad storage

I added both inbound and outbound rules to the Windows firewall to allow all 
connections to and from bacula-fd.exe . The firewall log also shows that the 
connections from the director to port 9102, and from the fd to the SD's port 
9103 are successful. I do not see any blocked connections listed at all.

Yet I found that the problem goes away when I turn off the Windows firewall.

So I am trying to find out what else the firewall might be doing to interfere 
with bacula, what other rules I might need.

Thanks!

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