I keep receiving "Parse error reading JWS.
Using the jwt.io website it sees that all the informations are fine! Too using the following pub key it says that the signature is verified.
-----BEGIN PUBLIC KEY-----
MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEao2VLUpoWe3ONxndiPZUN7aKSFC1
Ka+6knxNsvwhXbENR33HcgoOG4C5zZX/W63/xLjX91VexAZK2kKO4RUIEg==
-----END PUBLIC KEY-----
This is happening because you're sending the entire private key in the embedded JWK.
[ ACME ] > b64url -decode
Input data to encode/decode. End by sending '.'
[ ACME ] > b64url data > eyJhbGciOiJFUzI1NiIsImp3ayI6eyJjcnYiOiJQLTI1NiIsImQiOiJSR05QSXZ4WHRFTEl3QjdrR3A4SFRfc0NNUHk5akZNb3Jwb1Q3SlRPVVRJIiwia2lkIjoiQkMxNTJHZUItZlFLZnpmUDI0Sk9rbDlvZVhOVFBRbGhtM2pZaW5UR2RlUSIsImt0eSI6IkVDIiwieCI6ImFvMlZMVXBvV2UzT054bmRpUFpVTjdhS1NGQzFLYS02a254TnN2d2hYYkUiLCJ5IjoiRFVkOXgzSUtEaHVBdWMyVl8xdXRfOFM0MV9kVlhzUUdTdHBDanVFVkNCSSJ9LCJub25jZSI6IkpLd3lvcnlySFpfYnRtMTBUdVFtTnciLCJ1cmwiOiAiaHR0cHM6Ly8xNzIuMTkuMTkxLjIzNjoxNDAwMC9zaWduLW1lLXVwIn0
... .
Result:
{"alg":"ES256","jwk":{"crv":"P-256","d":"RGNPIvxXtELIwB7kGp8HT_sCMPy9jFMorpoT7JTOUTI","kid":"BC152GeB-fQKfzfP24JOkl9oeXNTPQlhm3jYinTGdeQ","kty":"EC","x":"ao2VLUpoWe3ONxndiPZUN7aKSFC1Ka-6knxNsvwhXbE","y":"DUd9x3IKDhuAuc2V_1ut_8S41_dVXsQGStpCjuEVCBI"},"nonce":"JKwyoryrHZ_btm10TuQmNw","url": "https://172.19.191.236:14000/sign-me-up"}
See the d parameter? That's the private part of an ECDSA key. You don't want to send that to an ACME server, that's a security blunder that Pebble is stopping you from committing. (Though Pebble should definitely make a much less opaque error).