For pitch CV:
TYPE - Pitch V/oct
NOTE 1 - C5
VOLTAGE 1 - 2.587V
NOTE 2 - C7
VOLTAGE 2 - 4.797V

And for Gate:
TYPE - Gate
POLARITY - V-Trig
LEVEL - 5V

Make sure you connect tip and ring the right way round. Works fine for me with these settings to access the right range for the Minitaur.