[Tex2002ans]

Many many years ago I used jpdfbookmarks:

http://flavianopetrocchi.blogspot.co...marks-252.html

Edit: I just looked up and saw that willus's fantastic tool, k2pdfopt also has an option "-toclist".

This allows you to create a simple text file:

1 Introduction
10 Chapter 1
+10 Chapter 1, Part A
+25 Chapter 1, Part B
++25 Chapter 1, Part B, Subsection 1
++27 Chapter 1, Part B, Subsection 2
+30 Chapter 1, Part C
50 Chapter 2
70 Chapter 3

and insert that as PDF bookmarks.

You can read more details in his "List of Command-Line Options" (and check the above thread too, willus has tons of answers about his program there).