Using my tool Bioalcidae: https://github.com/lindenb/jvarkit/wiki/BioAlcidae

The javascript:

var max_len =10;

while(iter.hasNext())
    {
    var rec = iter.next();
    if(rec.getReadUnmappedFlag()) continue;
    var cigar = rec.getCigar();
    if( cigar == null ) continue;
    var read = rec.getReadString();
    if( read == null ) continue;
    var seq = "";
    var readpos=0;
    for(var i=0;i< cigar.numCigarElements();++i)
        {
        var ce = cigar.getCigarElement(i);
        var op = ce.getOperator();
        if( ! op.consumesReadBases() ) continue;
        for(var x=0;x < ce.getLength();++x)
            {
            if( op.consumesReferenceBases())
                {
                seq+=read.charAt(readpos);
                }
            readpos++;
            }
        }
    if( seq.length < max_len*2) continue;//prevent overlap ?

    out.println(rec.getPairedReadName()+"\t"+ seq.substr(0,max_len)+"\t"+ seq.substr(seq.length-max_len));
    }

invoke;

java -jar dist-1.133/bioalcidae.jar -f script.js  samtools/examples/ex1.bam

output:

B7_591:4:96:693:509 1/2    CACTAGTGGC    GTTTAACTCG
EAS54_65:7:152:368:113 1/2    CTAGTGGCTC    TTTAACTCGT
EAS51_64:8:5:734:57 2/2    AGTGGCTCAT    TAACTCGTCC
B7_591:1:289:587:906 2/2    GTGGCTCATT    ACTCTTCTCT
EAS56_59:8:38:671:758 2/2    GCTCATTGTA    TCGTCCATGG
EAS56_61:6:18:467:281 1/2    ATTGTAAATG    CCCTGGCCCA
EAS114_28:5:296:340:699 2/2    ATTGTAAATG    CATGGCCCAG
B7_597:6:194:894:408 1/2    TGTAAATGTG    ATTGCCCAGC
EAS188_4:8:12:628:973 1/2    AAATGTGTGG    GCCCAGCATT
EAS51_66:7:68:402:50 2/2    GTGTGGTTTA    AGCATTTGGG
(....)