One way using string patterns and StringCases
:
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 ~~ ">" :> ToExpression[p],
"<(" ~~ n : NumberString ~~ ")>" :> -ToExpression[n],
"<" ~~ Whitespace.. ~~ ">" -> "NA",
b : "True" | "False" :> b /. {"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"}}