Without extra info like what rom you tried to flash it's hard to say what the exact problem is.
The most likely is that even if you flashed a rom that is compatible with hboot 1.58, because you are s-on you need to flash the kernel separately. If you are going to stay s-on, you really should use 4ext recovery as it has a feature called smart flash that will allow you to flash the rom and kernel together. There is also a way to do it through fastboot but using 4EXT recovery is much simpler.
Anyway, you need to flash the boot.img separately. So if you flashed a rom, take the boot.img from that rom and put it in your adb/fastboot folder on the pc. Then use fastboot command:
fastboot flash boot boot.img
If you restored your backup, try flashing the boot.img from whatever rom that is.
If you don't want to switch to 4ext then you can temporarily boot recovery into the phones memory to flash roms and that will allow you to flash the rom and kernel together without flashing the boot.img separately. Do this by issuing fastboot command:
fastboot boot recovery.img
That will boot recovery and allow you to flash a rom without having these problems.
So either boot recovery through fastboot or use 4ext recovery with smart flash enabled.
Really s-off is worth it it will save you a lot of headache. And you can only use stock based ics roms while s-on. Anything else is incompatible and will bootloop. No cm or jellybean roms. Just stock ics.
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