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以下のように /boot/loader.conf と /etc/rc.conf を設定して無線LAN接続出来た。

/boot/loader.conf
wlan_wep_load="YES"
wlan_ccmp_load="YES"
wlan_tkip_load="YES"

/etc/rc.conf
wlans_ath0="wlan0"
ifconfig_wlan0="WPA inet 192.168.YY.XXX netmask 255.255.255.0 ssid AirPort15124"

#ifconfig -a の結果
ath0: flags=8843 metric 0 mtu 2290
ether xx:xx:xx:xx:xx:xx
media: IEEE 802.11 Wireless Ethernet autoselect mode 11g
status: associated
wlan0: flags=8843 metric 0 mtu 1500
ether xx:xx:xx:xx:xx:xx
inet 192.168.yy.xxx netmask 0xffffff00 broadcast 192.168.yy.255
media: IEEE 802.11 Wireless Ethernet OFDM/54Mbps mode 11g
status: associated
ssid AirPortzzzzz channel 7 (2442 MHz 11g) bssid xx:xx:xx:xx:xx:xx
regdomain 65 country J1 indoor ecm authmode WPA2/802.11i privacy ON
deftxkey UNDEF TKIP 2:128-bit txpower 20 bmiss 7 scanvalid 450 bgscan
bgscanintvl 300 bgscanidle 250 roam:rssi 7 roam:rate 5 protmode CTS
wme burst roaming MANUAL

無線LANカード：WN-G54/CB3

参考ページ
Wireless Networking