Converting a 5-bit s-box to its bit-sliced format
A recent paper presented at FSE'2016 [1] addresses this exact question. In fact, it even provides a bitsliced implementation for the S-Box you are interested in Section 4.

In summary: you first encode the existence of a bitsliced implementation as a SAT problem, use an off-th-shelf SAT-solver to solve it and finally retrieve the bitsliced encoding from the output of the SAT-solver.

[1]: http://eprint.iacr.org/2016/198.pdf "Optimizing S-box Implementations for Several Criteria using SAT Solvers", Ko Stoffelen, Proceedings of Fast Software Encryption 2016