I have had 3 ford diesels do that, and sorry but I don't have a solution for you. My current 84 is doing it very bad, no ABS with it though.
My guess would be the porportioning valve...in theroy it should be sending more juice to the front brakes so your rears don't lock up. Not sure, but its certainly a common Ford issue, of that vintage anyways.
Possibly rear brake shoes set up/adjusted wrong.???