Here is the wiring for the camera end. It is a 6 pin connector and it can be stripped back to expose the individual wires.
Pin 1 is shield or camera ground.
Pin 2 is white and it goes to video out or the + video
Pin 3 is green audio ground.
Pin 4 is red audio out.
Pin 5 is black ground.
pin 6 is white power.
I am not sure of the colors, it has been quite a while since I did this. But here are some pictures of a schematic and you will notice that the schematic is in a round circle the same way the picture of the circuit board is. Strip the black wire back and you can wire up the power to 12v and the video signal can go directly to the monitor. Here is what I used for a monitor. I found this monitor system and video on all the time is a much superior arrangement for situation awareness and safety.
There is more information on the Tiffin owners forum. Look for the upgrades post. It is the first or second post.