If you don't mind a bit for work to get setup look at http://www.dirvish.org/. You can do daily backups that only consume seed backup space + changed files space of each additional backup.
If you've never tried rdiff-backup, do take a look, it is an incremental backup which support time-travel by "checking out" increments from specific dates, while always making the latest version visible. It is purely command line and very easy to use.
If you want compression and file-integrity, host the backup directory on a zfs partition.
I personally prefer rdiff-backup to bacula, as it is simplistic and do not introduce any new concepts and have used it in production with great success for many machines.
You can use rdiff-backup both between local directories and via ssh.