I would still try the New PC Studio, which is supposed to be compatible with newer Samsung phones like yours. Worth a try anyway. Link:
Try exporting as a CSV from PC Studio-
Someone has reported it worked importing to iPhone using iOS 6.02-
Also, getting your contacts into Google/Gmail from the CSV gives you (several) options to get them into your new iPhone 5, FWIW. Maybe all of them aren't on your SIM/phone, but you could manually re-add the missing ones, then proceed from there to get them into Google.