Sorry, thought I'd picked that technique up here, but it was from elsewhere. Once you turn on GPS, then set up a Get HTTP function. I got it from this Wiki Profile: Locatephone - Tasker Wiki
Just copy the server location text to the first line of the Get HTTP function then in the message/email body enter %HTTPD and the link to your Google Map, based on your GPS coordinates, pops up. I drop the GPS coordinates and battery level info as it isn't relevant to letting someone know where I am.
Steve

