I would agree with the iPhone Cisco IPSec client being very picky! I am able to do IPSec connections from my iPhone to genuine Cisco hardware (ASA 5505's for example), but not on the RV082 (Linksys/Cisco). For the RV082 I've had to resort to a PPTP VPN connection from the iPhone. IPSec with pre-shared keys is even more secure (and a must for my clients), but for my home access PPTP is good enough.
I believe the WRV200 supports PPTP VPN connections, so you might want to try that. On the RV082 it's as simple as enabling the PPTP server and defining user(s) and passwords. On the iPhone I define a PPTP VPN, supply the external IP (or Dyndns / No-ip web address if you've set one up), set "Account" to be the user name you defined for the PPTP server, and leave encryption set to "Auto". As an added safety measure, I do not fill in the password. This means I have to type it every time I connect to the VPN, but no one can gain access to the various VPNs on my phone if I lose it.
If you have trouble trying PPTP can you supply pictures of the WRV200 configuration page?