Centipede

Centipede is a Destiny Error Code.

The Solution: Seemingly the most common of error codes, you're prevented 
from playing due to some kind of NAT issue. If retrying the activity in 
question doesn't work, run through Destiny's network troubleshooting
guide. In short, you'll want to open the following ports:

7500-17899 (TCP) - Outbound
30000-40399 (TCP) - Outbound
35000-35099 (UDP) - Inbound and Outbound
3074 (UDP) - Inbound and Outbound