problem with autonomous that has stumped all programmers so far

[bd02]

The autonomous mode i programmed for our robot for dead wreckoning was working fine. It would count the # of 26.2 ms and use them to time the movements of the bot. The first time i setup the code with sample times it worked just fine, but once i put actual times in that we received from out test runs, the cpu seemed to skip the first few steps and and go directly to the area where the robot is todl to move forward for 3 seconds. I asked a group of programmers at the Regional in Trenton, which were mostly coaches or people with enough knowledge of the language to comprehend my code, and they all said my code was written fine and should be working ok. I myself do web programming the usual html (even though it isn't really considered a language), vbscript, javascript, asp, sql, and php, and have had no real trouble in the past with debugging, but now I'm just stuck. Can anyone help me with this?

Attatched is my working code. Whenever i changed the time values for each state or change SECS_TO_TICKS to MSECS_TO_TICKS, it throws it off for some reason and makes it skip states. Any ideas?