It goes through all the cycles, but murky water is left on the bottom of the dishwasher. I hit the drain button, but the water is still there.

It sounds like something is clogged up. Clean out drain and filters and see if float is stuck on bottom of tub. Look here: https://dl.dropbox.com/u/8010163/Whirlpool_Kenmore%20Dishwashers.zip