We study finite-temperature properties of the Kondo effect in a carbon nanotube (CNT) quantum dot using the Wilson numerical renormalization group (NRG). In the absence of magnetic fields, four degenerate energy levels of the CNT consisting of spin and orbital degrees of freedom give rise to the SU(4) Kondo effect. We revisit the universal scaling behavior of the SU(4) conductance for quarter- and half-filling in a wide temperature range. We find that the filling dependence of the universal scaling behavior at low temperatures $T$ can be explained clearly with an extended Fermi-liquid theory. This theory clarifies that a $T^{2}$ coefficient of conductance becomes zero at quarter-filling whereas the coefficient at half-filling is finite. We also study a field-induced crossover from the SU(4) to SU(2) Kondo state observed at the half-filled CNT dot. The crossover is caused by the matching of the spin and orbital Zeeman splittings, which lock two levels among the four at the Fermi level even in magnetic fields $B$. We find that the conductance shows the SU($4$) scaling behavior at $mu_{B}B<k_{B}T_{K}^{mathrm{SU(4)}}$ and it exhibits the SU($2$) universality at $mu_{B}Bgg k_{B}T_{K}^{mathrm{SU(4)}}$, where $T_{K}^{mathrm{SU(4)}}$ is the SU($4$) Kondo temperature. To clarify how the excited states evolve along the SU(4) to SU(2) crossover, we also calculate the spectral function. The results show that the Kondo resonance width of the two states locked at the Fermi level becomes sharper with increasing fields. The spectral peaks of the other two levels moving away from the Fermi level merge with atomic limit peaks for $mu_{B}B gtrsim k_{B}T_{K}^{mathrm{SU(4)}}$.
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