Could I use netgear A6210 capture wifi packets include wifi header in the Ubuntu system ?

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I think you might be all set with this configuration. There are three requirements listed:

1. Netgear A6210 adapter in monitor mode
2. Ubuntu 16.04
3. PHY header that is unknown

So for (1), there is a driver available on github that supports monitor mode:

https://github.com/cyangy/A6210-mt76x2u_Ubuntu

There are other drivers around, but this one supports monitor+promiscuous mode whereas some others I tried did not.

For item (2), I don't use that distribution so do not know for sure. I have several of these adapters and tested on a recent Kali distribution with kernel:

4.18.0-kali3-amd64 #1 SMP Debian 4.18.20-2kali2 (2018-11-30) x86_64 GNU/Linux

The driver page indicates your Linux version worked for their test.

For (3), I don't know what you need, but some of the fields are present in the radiotap header - from a sample frame via this adapter:

Radiotap Header v0, Length 30
    Header revision: 0
    Header pad: 0
    Header length: 30
    Present flags
    Flags: 0x00
    Data Rate: 6.0 Mb/s
    Channel frequency: 5745 [A 149]
    Channel flags: 0x0140, Orthogonal Frequency-Division Multiplexing (OFDM), 5 GHz spectrum
    Antenna signal: -65dBm
    RX flags: 0x0000
    Antenna signal: -70dBm
    Antenna: 0
    Antenna signal: -65dBm
    Antenna: 1

Adapter config:

phy#8
        Interface wlan0
                ifindex 11
                wdev 0x800000001
                addr dc:ef:09:xx:yy:zz
                type monitor
                channel 149 (5745 MHz), width: 80 MHz, center1: 5775 MHz
                txpower 21.00 dBm