Your $9K savings is 14% of your home loan (9/64=14%). If you already put 5% down on the house you could likely eliminate PMI very, very soon by dumping the emergency fund at it. If you put it towards the mortgage you can likely get it right back with a home equity credit line in an emergency. I'd run the numbers like Clarkm04 said to calculate effective interest rate on PMI.

The student loan interest rate is a real problem as well. If you can't consolidate to get a better rate, you should pay that first unless the mortgage interest plus PMI effective interest exceeds it.

In your analysis, don't forget to consider tax deductions. Your net interest rate for the SL would be 7% * (1 - tax rate). Mortgage would be (4%+PMI%) * (1 - tax rate). Also, pay attention to whether or not you are actually getting a deduction for these things. With the low mortgage principal your total interest for the year is not very high, so you might be taking the standard deduction which means you're not even really using the mortgage interest deduction. Student loan interest can be deducted in addition to the standard deduction so you can double dip, but if your combined wages are north of $125K you might not be able to deduct much student loan interest at all. If either of these deductions are eliminated, the gross rate is your true rate. If they are reduced, reduce the tax rate accordingly.

If I were you I wouldn't start investing (other than 401K up to employer match) until you get rid of all loans with an after tax interest rate > 4-5%. Even after that, it's a personal choice, but the math favors investing around that point.