I am currently dealing with this same problem. We need to update from Firmware version 184.108.40.206 to a newer version to troubleshoot an issue with port forwarding not working when IPS is disabled. I spoke with Cisco support and the tech there recommended that I start with 220.127.116.11 because I am on hardware version 1.x. Since I am updating to attempt to resolve an issue, he stated to stop at 18.104.22.168 if the issue is resolved. He also recommended making a backup of the configuration files before attempting any FW upgrades.
You can check the hardware version your RVS4000 is running on by looking at the label on the unit. Under the serial number will be another field labeld PID/VID - The PID is the product ID which is RVS4000. The VID is the version ID, if this field is blank it means you are on hardware version 1.0, if it says 2.x you are on hardware version 2 and would need to update your firmware with one of the 2.x.x.x FW versions.
I guess the question is what are you trying to accomplish with your FW upgrade? Are you attempting to resolve an issue that you are having?
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