Hi Christi,
Without knowing the contents of your import template for importing Shipments into Adagio Inventory, I couldn't answer as to whether they file layout is incorrect, or some other scenario is occuring.
If you are using the default template, then nothing appears incorrect, based on the CSV file contents you posted. What do you mean by 'defining all the shipment fields as import fields'? This might be the problem, as the ICSBATCH format only has 15 fields, 7 in the header and 8 in the footer. If your template does not have Det-Record Type(D) as the 8th field in the list, then that explains your problem.
There is a checkbox on the first screen called IC Shipment format, which automatically assigns the correct field layout for importing batches. Perhaps try checking this - you may have to make sure the import file name of ICSBATCH.GLS is maintained.
As for your other question, the IC import template files are actually a collection of files prefixed by 'ICIO' in your data directory. And of course the file you are trying to import is ICSBATCH.GLS, which will also be in your data directory.