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One way using string patterns:

string = ImportString["<12> cfg <15.21>  bhg    v<(24)>    e<65>   True
  <12> cfg <15.21>  bhg    v<33>      e<(77)> False
  <83> fff <67>     bhg     < >       e<(43)> True
  <11> fff <14.21>  bff    v<(1.42)>  e<44>   True
  <76> cfg <76.3>   fff     < >       e<21>   True
  <98> cff <34>     rrs    v<33>       < >    True", "Lines"];
StringCases[string, {
  "<" ~~ p : NumberString ~~ ">" -> p,
  "<(" ~~ n : NumberString ~~ ")>" -> -n,
  "< >" -> "NA",
  "True" | "False" /. {"True" -> "T", "False" -> "F"}
  }]

{{"12", "15.21", -"24", "65", "T"}, {"12", "15.21", "33", -"77", 
  "F"}, {"83", "67", "NA", -"43", "T"}, {"11", "14.21", -"1.42", "44",
   "T"}, {"76", "76.3", "NA", "21", "T"}, {"98", "34", "33", "NA", 
  "T"}}

The OP mentioned in a comment to Mr.Wizard that there are a few possible patterns that will count as "NA". This is easily accommodates with this solution. I'm still working on converting the final result from strings to expressions.