Check out CD-Media for examples of pit scouting sheets to get an idea of what others do, for example,
here is my team's pit scouting sheet. We had about 5-6 people that did the pit scouting at Palmetto, and this was far too few. I'd recommend at least ten, and more if you can. (Although, part of the reason our scout count was so low was that only about four people on the team knew what everything on the sheet meant, and one (me) was busy programming/driving, so for us it was hard to assign more people, you may find that you have find a similar problem)
For match scouting I'd highly recommend using a computer application, and just going off of pure numbers. Although a team of skilled and observant scouts can probably get better information, a numerical, computerized method really eliminates a lot of guesswork, bias for "showy" teams, and so on. However, it is imperative that a computerized scouting systems get good data, Garbage In, Garbage Out, as they say. Anyway, this year we used 768's excellent application, next year we hope to make our own.