Here's a script that Opens a Door Manually and Closes it Automatically.
I didn't display the opening instructions, but that would be easy enough to add.
;Artificial Intelligence Script
;Created by TGC and Modified by CE
desc = Door (Manual Open and Automatic Close)
;Triggers
:state=0,plrdistwithin=60,plrusingaction=1:state=1,setframe=0,sound=$0
:state=1:incframe=0
:state=1,frameatend=0:state=2,coloff
:state=2,plrdistfurther=60:state=3,sound=$1,colon
:state=3:decframe=0
:state=3,frameatstart=0:state=0,setframe=0
;End of Script