[shantiq]

you may need to use --prefer-ffmpeg too since default avconv will not mux so :::::

youtube-dl --youtube-include-dash-manifest --prefer-ffmpeg -f 137+141 "http://www.youtube.com/watch?v=qPK67Px8sR8"

or

youtube-dl --youtube-include-dash-manifest --prefer-ffmpeg -f 137+141 qPK67Px8sR8

gives you:

youtube-dl --youtube-include-dash-manifest --prefer-ffmpeg -f 137+141 "http://www.youtube.com/watch?v=qPK67Px8sR8"
[youtube] Setting language
[youtube] qPK67Px8sR8: Downloading webpage
[youtube] qPK67Px8sR8: Downloading video info webpage
[youtube] qPK67Px8sR8: Extracting video information
[youtube] qPK67Px8sR8: Encrypted signatures detected.
[youtube] qPK67Px8sR8: Downloading DASH manifest
[download] Destination: Daughter - 'Shallows' (Live @ Air Studios)-qPK67Px8sR8.f137.mp4
[download] 100% of 132.93MiB in 02:11
[download] Destination: Daughter - 'Shallows' (Live @ Air Studios)-qPK67Px8sR8.f141.m4a
[download] 100% of 13.73MiB in 00:13
[ffmpeg] Merging formats into "Daughter - 'Shallows' (Live @ Air Studios)-qPK67Px8sR8.mp4"
shantiq@shantiq-00000000000000000000000:~/Desktop$ mediainfo "Daughter - 'Shallows' (Live @ Air Studios)-qPK67Px8sR8.mp4"
General
Complete name : Daughter - 'Shallows' (Live @ Air Studios)-qPK67Px8sR8.mp4
Format : MPEG-4
Format profile : Base Media
Codec ID : isom
File size : 147 MiB
Duration : 7mn 31s
Overall bit rate : 2 726 Kbps
Writing application : Lavf55.21.100

Video
ID : 1
Format : AVC
Format/Info : Advanced Video Codec
Format profile : High@L4.0
Format settings, CABAC : Yes
Format settings, ReFrames : 3 frames
Codec ID : avc1
Codec ID/Info : Advanced Video Coding
Duration : 7mn 31s
Bit rate : 2 468 Kbps
Width : 1 920 pixels
Height : 1 080 pixels
Display aspect ratio : 16:9
Frame rate mode : Constant
Frame rate : 25.000 fps
Color space : YUV
Chroma subsampling : 4:2:0
Bit depth : 8 bits
Scan type : Progressive
Bits/(Pixel*Frame) : 0.048
Stream size : 133 MiB (90%)

Audio
ID : 2
Format : AAC
Format/Info : Advanced Audio Codec
Format profile : LC
Codec ID : 40
Duration : 7mn 31s
Bit rate mode : Constant
Bit rate : 254 Kbps
Channel count : 2 channels
Channel positions : Front: L R
Sampling rate : 44.1 KHz
Compression mode : Lossy
Delay relative to video : 40ms
Stream size : 13.6 MiB (9%)