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There are 6 achievements for Millipede in the Centipede & Millipede compilation worth a total of 100 
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| Picture | Name | Description | |
|---|---|---|---|
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Prowler | Score over 41,916 to get on the high score table Millipede - Default difficulty | 10
|
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Marauder | Score 125,000 points Millipede - Default difficulty | 10
|
 |
Lunatic | Score 25,000 points Millipede - Throttle Monkey mode | 20
|
 |
Entity | Have 3 lives in hand Millipede - Default difficulty | 20
|
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Poison | Destroy a spider for 1800 points Millipede - Default difficulty | 20
|
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Eradicate | Reach wave 8 without a millipede reaching the bottom Millipede - Default difficulty | 20
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