How can we parse an NDEF message like this one? (thanks) :
D1 01 57 55 04 69 67 6D 2E 75 2D 70 65 6D 2E 66 72 2F 66 6F 72 6D 61 74 69 6F 6E 73 2F 6D 61 73 74 65 72 2D 32 2D 73 79 73 74 65 6D 65 73 2D 65 74 2D 73 65 72 76 69 63 65 73 2D 70 6F 75 72 2D 6C 2D 69 6E 74 65 72 6E 65 74 2D 64 65 73 2D 6F 62 6A 65 74 73 2D 73 73 69 6F 2F
Read the specification https://github.com/haldean/ndef/blob/master/docs/NFCForum-TS-NDEF_1.0.pdf to understand it to get the record payloads from it. Then read the specs for the relevant Record Types (some of which are also at https://github.com/haldean/ndef/tree/master/docs )
As you don't specify a language you want to use it is hard to give a concrete example, there are examples in Android's source code of how to do this in Java, the site with the linked docs has an example in C.