The camera response changes depending on which firmware version you have. Basically, the latest (3.x) series produce better photos and video. Gorgeous mode will produce the most vivid colours, so long as you're not filming in low light conditions. In common with all cameras of this type, the CGO3+ loves plenty of light.
For video, 'RAW' mode is misnamed (the video footage is not raw, but compressed as usual) but essentially in RAW, the video is recorded with a flat colour profile and low saturation which is designed to be ideal for post processing.
It's also worth checking you've got the best white balance. The most neutral is Sunrise/sunset, which gives decent blues (similar to GoPro's standard profile). Most of the other preset white balances tend towards reds (the standard lens has a magenta cast which the white balance presets compensate for, but not heavily).
Finally, I made this video about getting colours to 'pop' in post. It uses Lightworks, but the techniques apply for most decent video editors: