http://xhp.xwis.net/
Get XCC Mixer
Put Tib Dawn cd in the drive
Through XCC navigate around to your cd drive and start digging.
Should be able to sort by type and look for audio formats. I want to say .wav, but unsure on TD since it have been so long.
Should be able to play the file through XCC program to see if you got the right ones. (might be sound effects, etc)
Should be able to right click and extract or save as something.
Then there you go.
I did this for getting music from Tib Dawn - Firstorm. I also used it for modding Renegade. I also used this in the same manner (navigating to my cd drive) with various games (Ghost Recon, lots of Battlefields, Raven Shield, etc) to find textures, models, sounds, music, etc. Again, I have not touched that program much in the past 4 years, so hopefully that will work.
-edit-
Must have missed it the first time.
I am not sure about Frist Decade CDs.
I ripped all mine from the originals.