  CONTEXT: Asymptotic giant branch (AGB) stars are in one of the latest
evolutionary stages of low to intermediate-mass stars. Their vigorous mass loss
has a significant effect on the stellar evolution, and is a significant source
of heavy elements and dust grains for the interstellar medium. The mass-loss
rate can be well traced by carbon monoxide (CO) line emission.
  AIMS: We present new Herschel HIFI and IRAM 30m telescope CO line data for a
sample of 53 galactic AGB stars. The lines cover a fairly large range of
excitation energy from the $J=1\to0$ line to the $J=9\to8$ line, and even the
$J=14\to13$ line in a few cases. We perform radiative transfer modelling for 38
of these sources to estimate their mass-loss rates.
  METHODS: We used a radiative transfer code based on the Monte Carlo method to
model the CO line emission. We assume spherically symmetric circumstellar
envelopes that are formed by a constant mass-loss rate through a smoothly
accelerating wind.
  RESULTS: We find models that are consistent across a broad range of CO lines
for most of the stars in our sample, i.e., a large number of the circumstellar
envelopes can be described with a constant mass-loss rate. We also find that an
accelerating wind is required to fit, in particular, the higher-J lines and
that a velocity law will have a significant effect on the model line
intensities. The results cover a wide range of mass-loss rates ($\sim 10^{-8}$
to $2\times 10^{-5}~\mathrm{M}_\odot~\mathrm{ yr}^{-1}$) and gas expansion
velocities (2 to $21.5$ km s$^{-1}$), and include M-, S-, and C-type AGB stars.
Our results generally agree with those of earlier studies, although we tend to
find slightly lower mass-loss rates by about 40%, on average. We also present
"bonus" lines detected during our CO observations.
