I have all of the same symptoms as OP. Yesterday afternoon I was doing a story mission, got booted in the middle of it and haven't been able to log back in since. When I get to the character select screen, I pick my Titan and as soon as I do it gives the centipede error code. I made a new hunter and it can log in and play just fine. My bungie profile says it can't load my destiny data when I'm logged in, but if I log out I can see it fine.