So I installed flashify and used it to backup my kernel and my current recovery to SD card.
Then I used flashify to install the latest version of TWRP.
Now my phone boots in to ODIN mode.
The top right of the screen says
Could not do a normal boot.
and the screen says "Downloading Do not turn off target"
I tried rebooting with the two or three buttons pressed, and the phone continues to reboot into this mode.
Help is appreciated.