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 ~~ ">" :> ToExpression[p],
      "<(" ~~ n : NumberString ~~ ")>" :> -ToExpression[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 accommodated with this solution, e.g. using `WhiteSpace` as Mr.Wizard suggests.