Definitely something wrong with your g3d file. I can open the spearman_walking.g3d but only the helmet and spear show up (untextured) and g3d runs really slow reporting that there are 23 MILLION!!! triangles!
I re-linked the texture and exported the model myself (under linux). At first I got the same texture error mentioned above so I re-exported the texture without compression through gimp.
I now have the following error from G3d Viewer "Exception caught loading 3d file: /home/will/Downloads/spearman/spearman.g3d
std::bad_alloc"