On my S5 why am I getting the erro message could not do normal boot. ODIN MODE...UDC START?

A

AC Question

S5 sm-g900p rom flash failure/bricked phone

I rooted and then tried unsuccessfully upload a custom rom on the phone. I get the message "could not do normal boot. ODIN MODE. .... UDC START " it has the android and says Downloading.... Do not turn off target.
I went to Sam Mobile and downloaded the correct stock firmware. Unfortunately I am using a Mac so I also downloaded Hiemdall. Is anyone patient enough to walk me through how to reflash this with the stock firmware using hiemdall? Hiemdall does detect my phone but that is as far as I have made it.
 

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