C2811 is not Cisco ASA but try to follow this guide:
IPsec between pfSense and Cisco ASA: Setup cross vendor IPsec VPN sometimes is tricky, due differences in protocols implementation. There are several important nuances here:
Do not use auto-negotiation at all. Set certain parameters manually. Usually it is aes128-sha1 and pfsgroup 2 or 5
Make sure P2 settings describes exactly the same networks, because ASA demands IPsecProxyID has to be the same on both devices, one is composed from P2 networks, so that they must be the same. E.g. local:10.0.0.0/24 remote:10.1.0.0/24 on one side and local:10.1.0.0/16 remote:10.0.0.0/24 on another is wrong, even formally network connectivity is possible for them in some way.
Cisco ASA uses list of policies for matching possible policy. This might make additional problem. Set certain policy on top of list, e.g. esp-aes128-sha1 pfsgroup 2 has to have 1st sequence number.