With youtube-dl I first look what video quality is available and then in second step I download highest possible quality (in this example -f 137+140). Youtube-d
Since the numbers of format are limited I did:
youtube-dl -f 299+140 "http://www.youtube.com/watch?v=P9pzm5b6FFY"
youtube-dl -f 137+140 "http://www.youtube.com/watch?v=P9pzm5b6FFY"
youtube-dl -f best "http://www.youtube.com/watch?v=P9pzm5b6FFY"
If the 299+140 has been downloaded the 137+140 won't be and if none of those have you'll have the best starting with 22. The only problem is that you'll have the best in webm as a duplicate but you can use the ext!=webm to avoid this.
Of course you can start at 313+140 or whatever higher format you want.