Yaw Tuning Help!

Hi everyone, my current setup seems to fly great in stabilize mode with the pid settings I have tuned thus far. My only issue now seems to be my yaw. When I go to yaw in stabilize mode, the copter responds quickly to my stick movements, but seems to overcompensate and shot up about 5 feet. I have tried tuning down the Rate yaw P and the yaw stab P, but with worsening results. I don't think I have a good grasp on how tuning Yaw pid values affect the performance. This problem gets worse when hit by wind. The copter gets unstable due to it trying to compensate the yaw. My frame is a DROIDWORX ad4-HL with 12x3.8 sf props/AXI2814/22 motors/5000Mah 4s/30A esc/APM1.4w/oilpan. I attached my last Log file and a pic on the bottome. If anyone can plz take a look and see what im doing wrong, thanx.

 

Rate

p=.109

i=.04

d=.002

 

Stab

p=3.45

i=0

d=.1

 

Rate Yaw

p=.1

i=0

d=0.001

Stab Yaw

P=6.5

i=0

d=0

3690923835?profile=original

2012-04-02 14-22 197.log.gpx

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