So basically you want clean urls? That is a whole 'nother thing. I guess your inquiry about regexp was valid after all but you will need a php wizard to chime in. My clean urls are done by the cms I use instead of me writing up the code myself so I cannot help you with that.
So, does this work?
RewriteRule sail/gps/ sail.php?uid=1
I've never tried it but I don't think it will. I don't think 301 redirect is what you are wanting. What you actually have is sail.php?uid=1 right but you want sail/gps/ to show up for SEO purposes right? Google is your friend for information on clean urls.