Kevin - I have seen a lot of this type of GD&T on automotive hose assemblies in my work. From the sketch you provided, a three plane refrence is indeed posible.
Datums A & D are the primary co-datums with A a surface and D a line target offset from A. Together they form the primary plane datum. B is an axis datum that forms two planes at right angles to each other and perpendicular to the primary plane. C is used to establish rotational orientation of the two planes about the datum axis. When all is said and done, you end up with the three planes your looking for to set the part up for measurement. Take a look at para. 4.4.2 & 4.4.3 in the std. for this concept.
As far as the FCF is concerned, the BOUNDARY note is a correct call out in that it specifies a condition where no element of the surface of the pipe shall be outside a theoretical boundary of identical shape located at true position the size of which is equal to the MMC size of the pipe plus the tolerance. At each point of the pipe asm.you would want the pipe to fit into a ring of that dia. located per the basics for that point. Take a look at para. 5.10.1(c) in the std. on this one. Hope this helps.