Sorry everyone, I forgot to post about this.
The URL for the tracking data is like this:
The number after /missions/ is a mission ID. Today that's 5 for the big boats, and 6 for the small boats. Use numbers 1-4 to see the data format from previous days.
The trackers record one point per second. ?limit=10 specifies how many points you want for each boat: you can request up to 500. There's no way currently to get earlier data from this API. The live tracking data may be incomplete if the trackers can't get a mobile data connection for a while - we can't fill in the gaps for the live data (we get the full data off the tracker when it comes back in).
Data format: JSON array of robots: each has tracker and robot IDs, robot name and team name. Each also has a JSON array of track points. Each point has latitude and longitude from the GPS (so in the usual WGS-84 coordinate reference system), and a timestamp for when it was taken, in RFC 3339 format, so you can see how recent it is. Note that the timestamps are in UTC, not local time - British Summer Time is 1 hour ahead of UTC.
Let me know if you have any questions.
Thomas