$ youtube-dl -F https://www.youtube.com/watch?v=RaFrYpjOcsM
[youtube] RaFrYpjOcsM: Downloading webpage
[youtube] RaFrYpjOcsM: Downloading video info webpage
[youtube] RaFrYpjOcsM: Extracting video information
[youtube] RaFrYpjOcsM: Downloading MPD manifest
[youtube] RaFrYpjOcsM: Downloading MPD manifest
[info] Available formats for RaFrYpjOcsM:
format code  extension  resolution note
140          m4a        audio only DASH audio  119k , m4a_dash container, mp4a.40.2@128k (44100Hz)
134          mp4        16x360     DASH video    6k , avc1.4d400a, 25fps, video only
137          mp4        48x1080    DASH video    7k , avc1.640015, 25fps, video only
160          mp4        6x144      DASH video  108k , avc1.4d400b, 25fps, video only
133          mp4        10x240     DASH video  242k , avc1.4d400c, 25fps, video only
135          mp4        22x480     DASH video 1155k , avc1.4d4014, 25fps, video only
136          mp4        32x720     DASH video 2310k , avc1.4d4016, 25fps, video only
18           mp4        16x360     medium , avc1.42001E,  mp4a.40.2@ 96k
22           mp4        32x720     hd720 , avc1.64001F,  mp4a.40.2@192k (best)