That error isn't important, unless you're trying to load something from a device connected via OTG cable. It's just letting you know that it's not finding the OTG storage, so if you need it you know to look into that. Flash the latest TWRP from Odin. Boot to recovery and factory reset, no Odin doesn't wipe. Then flash stock with Odin. See if you can boot and sit without looping. Don't screw with it, just let it sit for a bit and settle. Just watch for 5min or so to see if it loops. It's probably bad data and factory reset will fix it. The stock flash it just to make sure you have a known good base. If it doesn't loop in 5min or so, it's probably fine. If it does, try getting a logcat. There's not much anyone can do to help without more information at that point.
No signal and baseband unknown could be a corrupted EFS. You DID back that up didn't you? Does the IEMI show in the settings? Try booting without a SIM. If that's the problem, it might help.