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I was able to download from ustream about 3 weeks ago (Dec 1, 2014) but get the following error when I try it today.
util>youtube-dl --verbose http://www.ustream.tv/recorded/43487035/highlight/464891
[debug] System config: []
[debug] User config: []
[debug] Command-line args: ['--verbose', 'http://www.ustream.tv/recorded/43487035/highlight/464891']
[debug] Encodings: locale cp1252, fs mbcs, out cp437, pref cp1252
[debug] youtube-dl version 2014.12.15
[debug] Python version 2.7.8 - Windows-7-6.1.7601-SP1
[debug] exe versions: rtmpdump 2.4
[debug] Proxy map: {}
[ustream] 43487035: Downloading webpage
[ustream] 43487035: Extracting information
[debug] Invoking downloader on u'http://tcdn.ustream.tv/video/43487035'
ERROR: unable to download video data: HTTP Error 401: Unauthorized
Traceback (most recent call last):
File "youtube_dl\YoutubeDL.pyo", line 1136, in process_info
File "youtube_dl\YoutubeDL.pyo", line 1112, in dl
File "youtube_dl\downloader\common.pyo", line 297, in download
File "youtube_dl\downloader\http.pyo", line 67, in real_download
File "youtube_dl\YoutubeDL.pyo", line 1370, in urlopen
File "urllib2.pyo", line 410, in open
File "urllib2.pyo", line 523, in http_response
File "urllib2.pyo", line 448, in error
File "urllib2.pyo", line 382, in _call_chain
File "urllib2.pyo", line 531, in http_error_default
HTTPError: HTTP Error 401: Unauthorized