converting NMEA coordinate to standard decimal

for every GPS module I've been using till now I usually use RMC to get everything. the standard GPRMC/GNRMC looks like this.

$GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70

this is the breakdown of segments after the header.

      1   220516     Time Stamp
      2   A          validity - A-ok, V-invalid
      3   5133.82    current Latitude
      4   N          North/South
      5   00042.24   current Longitude
      6   W          East/West
      7   173.8      Speed in knots
      8   231.8      True course
      9   130694     Date Stamp
      10  004.2      Variation
      11  W          East/West
      12  *70        checksum

other than the coordinates data, everything is pretty straightforward. But now I need to convert the coordinate into standard format that's being used by google maps or any other GIS provider. refer to this

and this is how to do it