Skipping drain and rinse

My Maytag Atlantis seems to work fine except it skips drain and rinse.. but drain and rinse works perfectly besides..

I’ll put a load in, set the cycle and it goes through whole cycle and I come down and it’s finished, but the tub is still full of water.. I reset dial to spin cycle, it immediately empties and spins.

why? How is it skipping? What’s not clicking in to tell it to actually do the spin? Mechanically the machine doesn’t seem to have any problems to do the drain and spin.