Check out this file from IFI's website:
http://ifirobotics.com/docs/rc-ref-guide-6-13-2006.pdf
Look on page 2 right under the table of contents has a diagram showing all the connections. The color connectors are at the top of the board next to the PWM connectors.
Page 10 of that document contains more helpful info about the Team Color outputs.
Hope that helps.