Bungie is aware and is investigating.
https://twitter.com/bungiehelp/status/698138729836208128
For updates, stay tunes to [url=https://mobile.twitter.com/BungieHelp]@BungieHelp[/url]
Edit - Update: https://twitter.com/bungiehelp/status/698155908900085760
[quote]The issues impacting some players' ability to sign-in to Destiny have been resolved. We appreciate your patience![/quote]
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I was having the same problem. Make sure you're Wireless isn't close to other electronic devices or cable wires. Also make sure you keep you're wireless on high surface, put it on a stand or table, don't put it on the floor! What i did to fix this, i had to move my wireless to the another room to keep it away from other electronic equipment, and it worked! I stopped getting the Caterpillar message.
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Having the same problem, catterpillar error