Default Can't factory reset galaxy s4?

So I'm trying to factory reset my gs4 and it won't work I've tried to do it in the settings and I've tried to hard reset but every time I've tried it always goes into download mode...I'm rooted using the towel root method on 4.4.2 and I'm no Verizon...if someone can please help that'd be awesome...thank you and have a good day

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