Reference stats table.
Amongst the group that go to the Alien Temple on the first day of arriving on LV223 Millburn sets about using his spectagraphs, these lead the group further into the Temple where the air is breathable and where they find various chambers, in one of these a Terraformer's Biomask is discovered. Millburn and Fifield split from the group after discovering a Holo integrated message which leads the rest of the group to the Ampule Room and the Urns that they contain.
Later when a storm moves in Millburn and Fifield are left in the Alien Temple, choosing to stay in the Ampule Room, they discover that there is a form of life in the room with them, this creature as they become interested in it, jumps and attacks Millburn grasping on his arm, Fifield helps only resulting in Millburn's arm being broken. Thinking quickly Fifield beheads the Alien Creature causing 'acid blood' to splash on his visor incapacitating him, as this is happening Millburn himself is killed by the creature falling on to the ground, later to be discovered by the returning group.
Alien: The Weyland-Yutani Report
The following is a description from the book about crew members aboard Prometheus.
Biologist Rafe Milburn SB-1402.