As other posters have observed this is generally caused by asymmetric routing. However it can also occur in cases where the amount of time between the SYN and SYN-ACK exceeds the default TCP start timeout of 25 seconds, caused by high packet loss or extreme network congestion. While exceeding 25 seconds for this simple exchange seems impossible, keep in mind that if Aggressive Aging is active this timer will be reduced to 5 seconds which is much more plausible.
If Aggressive Aging seems to be constantly active on the firewall for no obvious reason, it is usually due to memory issues on non-VSX firewalls as mentioned in the free addendum for the third edition of my Max Power book:
Gateway Performance Optimization R81.20 Course
now available at maxpowerfirewalls.com