Would it be easier to list the episodes in which they are not fired? 
 
I do not have immediate access to my DVDs (using library hotspot), so I'm running on memory.  The missiles are greyish in color, with red tips.  I think the big ones are more blue, with red tips. 
 
Off the top of my head, I think Ghost Fleet From Hell has some shots of the firing rack, with missiles.  And Mortal Blow! Gatchaman Fire is another (at least you have a nice view of the Super Bird Missiles). 
 
Well, I'm sure someone will have a nice list for you before long.
                               
                              
                              
                              
                              
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