Each line in the att file contains 4 numbers: time (relative to simulation start) and 3 Euler angles that define the spacecraft orientation against a reference frame.
Let's say the reference frame is the local horizon (I think this is the default). Then the Euler angles [math]\alpha, \beta, \gamma[/math] are the spacecraft's bank, pitch and yaw angle, respectively.
To convert between the Euler angles and a rotation matrix, consider that the rotation can be decomposed into 3 separate rotations: bank around the z-axis, pitch around the x-axis, and yaw around the y-axis:
[math]R = R_1 R_2 R_3[/math]
with
[math]
R_1 = \left[\begin{array}{ccc}
\cos\alpha & \sin\alpha & 0 \\
-\sin\alpha & \cos\alpha & 0 \\
0 & 0 & 1
\end{array}\right], \quad
R_2 = \left[\begin{array}{ccc}
1 & 0 & 0 \\
0 & \cos\beta & -\sin\beta \\
0 & \sin\beta & \cos\beta
\end{array}\right], \quad
R_3 = \left[\begin{array}{ccc}
\cos\gamma & 0 & -\sin\gamma \\
0 & 1 & 0 \\
\sin\gamma & 0 & \cos\gamma
\end{array}\right]
[/math]
and therefore
[math]
R = \left[\begin{array}{ccc}
\cos\alpha \cos\gamma - \sin\alpha \sin\beta \sin\gamma &
\sin\alpha \cos\beta &
-\cos\alpha \sin\gamma - \sin\alpha \sin\beta \cos\gamma \\
-\sin\alpha \cos\gamma - \cos\alpha \sin\beta \sin\gamma &
\cos\alpha \cos\beta &
\sin\alpha \sin\gamma - \cos\alpha \sin\beta \cos\gamma \\
\cos\beta \sin\gamma &
\sin\beta &
\cos\beta \cos\gamma
\end{array}\right]
[/math]
and to map back from R to the Euler angles:
[math]R_{32} = \sin\beta \Rightarrow \beta = \arcsin R_{32}[/math]
[math]\frac{R_{12}}{R_{22}} = \frac{\sin\alpha}{\cos\alpha} \Rightarrow \alpha = \arctan\frac{R_{12}}{R_{22}}[/math]
[math]\frac{R_{31}}{R_{33}} = \frac{\sin\gamma}{\cos\gamma} \Rightarrow \gamma = \arctan\frac{R_{31}}{R_{33}}[/math]
Note that if you use the ecliptic frame instead of the local horizon as reference, the definition of the Euler angles is a bit different, so the corresponding rotation matrices also look different. In that case they follow the definition in the documentation for VESSEL::GetGlobalOrientation().
Does that answer your question?