Whirlpool Duet Washer Not Draining?

I am getting the F02 and Suds error codes. We opened and cleaned out the drain pump filter. It was so disgusting and clogged. Then we ran a test mode. It worked great. I put towels in to do a load and got the same error. I took the soaking towels out and drained the water out. I took off the black ball rubber hose and checked for clogs...nothing. I did an empty rinse/spin. It worked perfectly. I put 2 towels in to check and got the same error Suds error and it will not drain. You can hear it though. I don't understand why it works great on all test modes and empty cycles, but if we put anything at all in there we get that error. Please help. We can't afford a new one and can't afford an appliance repair technician to come out and charge us for something we can do ourselves. Oh yea, and the water is absolutely disgusting and stinky, it smells like sewer water! The washer and dryer came with the house we bought so there were previous owners that took care of and maintained nothing.