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
