your version supports TACACS+ management support. Also, the release notes say: "TACACS+ using single connect is configurable through the CLI but it is not supported in this release"
I did not check that firmware specifically but the current should.
This is done on a c5 just as an example:
C5(rw)->set tacacs enable
C5(rw)->set tacacs server 1 192.168.10.10 49 mysecret
C5(rw)->set tacacs session accounting enable
C5(rw)->set tacacs session authorization service basic
C5(rw)->set tacacs session authorization read-write priv-lvl 5
C5(rw)->set tacacs command accounting enable
C5(rw)->set tacacs command authorization enable
C5(rw)->set tacacs singleconnect enable
C5(rw)->set authentication login tacacs