I think you should pull out of your front loaded IRA, but I'm not sure betterment is the best bet. I am personally a vanguard fan, myself. There's been much debate on the topic of vanguard v. betterment recently due to MMM's betterment post, so poke around and decide what is best for you. But you are right, it's probably going to be something besides your current front loaded plan.
Also, not sure how you feel about your life insurance policies, but typically anything besides term is overpriced and complicated. I like to keep my investments and my insurance separate, it just is easier and more economical. For me and my family, at least.