SASHIMI-C calculates various subhalo properties efficiently using semi-analytical models for cold dark matter (CDM), providing a full catalog of dark matter subhalos in a host halo with arbitrary mass and redshift. Each subhalo is characterized by its mass and density profile both at accretion and at the redshift of interest, accretion redshift, and effective number (or weight) corresponding to that particular subhalo. SASHIMI-C computes the subhalo mass function without making any assumptions such as power-law functional forms; the only assumed power law is that for the primordial power spectrum predicted by inflation. The code is not limited to numerical resolution nor to Poisson shot noise, and its results are well in agreement with those from numerical N-body simulations.