[hyc]

You omitted the appname. A proper RTMP url requires these parts:

rtmp://host/app/playpath

You only provided the host and playpath.

The streamName does not have a .flv suffix, but you added one in your command. Therefore the streamName you're using won't match the actual name on the server.

The auth parameter in the XML is actually part of the RTMP URL, it has nothing to do with the rtmpdump auth option.

I think the actual URL should be like this:

rtmp://cp76875.edgefcs.net/ondemand/mp4:flash/d16_b_57?auth=da_cXbdbMcScScHbHb_dQaEb5c8awardIdG-blIOgT-E-wlG-r8n9&aifp=v01

This server probably expects you to provide the swfUrl and pageUrl too, though.