Online options:

• Google Translator Toolkit - http://translate.google.com/toolkit
  • It used Google Translate to give a basic translation and provides a side by side translation interface for translating, along with several other features.
• PDF to Word Converter - http://www.pdftoword.com/ to convert the pdf to a word document that can then be imported into Google's Translator Toolkit.

Offline:

• OmegaT - http://www.omegat.org/ - Also can use Google Translate as a starting point.

Other Resources:

• http://www.linuxfortranslators.org/