FreeSoftwareTools.net

Subrip captures the dvd (sub/idx) embedded subtitles and converts them into a well known textual format called "srt".

This program allows you to rip DVD subtitles with their timing as a text file.
You can also rip subtitles as BMP in the goal of putting them on a SVCD or on a homemade DVD.
The srt subtitle format is the most common textual subtitle format. It is also supported by a lot of dvd hardware devices natively.
An detailed subrip tutorial can be found at doom9.org