Can you be more specific why you need a regular expression here? Also, what do you want to do with the coordinates once you get them?
This code will read a text file and ignore any line that begins with an octothorpe (#), replaces the blank spaces between your coordinates with commas, and writes the results to a new text (CSV) file. This Python code does not rely on regular expressions. You will not need to rely on a regular expression to convert your GPS text file to a comma delimited text file.
You can replace the paths for f and fout to files and locations of your choosing. Save the newly edited code to a new text file with a .py extension. Execute the code using IDLE (comes with Python).
fout = open(r"C:/gTemp/fooout.csv","w")
for line in f:
if line == "#":
line = line.replace(" ",",")
After the new CSV file is created, use the Add Delimited Text option to display your data in QGIS. Depending on your CSV file you may need to open it in text editor and add the appropriate headers to the first row before adding it to QGIS.