I finally got the boot into FreeBSD to work. Here's what I put in
40_custom before running update-grub:

#!/bin/sh
exec tail -n +3 $0
# This file provides an easy way to add custom menu entries.  Simply type the
# menu entries you want to add after this comment.  Be careful not to change
# the 'exec tail' line above.
menuentry "freebsd" {
      set root=(hd0,2,a)
      chainloader +1
      boot
}

So the root specification is based on the FreeBSD slice (number) and
partition (letter) method of specifying a partition, as in the legacy
GRUB, except that the primary partition ("slice") numbering starts at 1
rather than 0.

Problem solved!

-- 
FreeBSD not detected by os-prober
https://bugs.launchpad.net/bugs/432254
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