Default [Q] Stuck trying to recover to factory rom

I recently bought my Galaxy s4 Active i9295.

After I had updated the phone with the newest software from android/google,I tried to install a custom rom.
I was'nt happy with it and wanted to get back to factory.
Unfortuneatly I can't manage to do it.
I went into CWM and cleared everthing, cache etc..I'm not sure what i pressed to be honest.
Now I'm panicing a little, afraid of my phone getting bricked.
When I boot my phone now it's stuck at the Samsun Galaxy screen with a red text im the top left corner which says
I can still go into recovery mode and download mode.
After this I have tried to install this file via ODIN (v3.07). It gives me this:

<ID:0/005> Added!!
<OSM> Enter CS for MD5..
<OSM> Check MD5.. Do not unplug the cable..
<OSM> Please wait..
<OSM> 5 is valid.
<OSM> Checking MD5 finished Sucessfully..
<OSM> Leave CS..
<ID:0/005> Odin v.3 engine (ID:5)..
<ID:0/005> File analysis..
<ID:0/005> SetupConnection..
<ID:0/005> Initialzation..
<ID:0/005> Get PIT for mapping..
<ID:0/005> Firmware update start..
<ID:0/005> sbl1.mbn
<ID:0/005> NAND Write Start!!
<ID:0/005> sbl2.mbn
<ID:0/005> sbl3.mbn
<ID:0/005> rpm.mbn
<ID:0/005> aboot.mbn
<ID:0/005> FAIL! (Auth)
<OSM> All threads completed. (succeed 0 / failed 1)

I'm stuck now. With no idea what to do. I have done a custom rom on my s2 before and nothing went wrong when i tried to get it back to factory.
I have tried to read other threads but got nothing from them. There might be some I have'nt watched yet.
Is there anyone that has knowlede of what to do?

I appreciate any replys.

I'm not very experienced so please tell me if something seems weird in my explenation
And English is not my language.