I don't know how low of a rate you'll get with the PMI and all, but I did a no-cost refi through Eagle Bank to shave off half a point. Paid nothing, and payments went down by about $150/month, which for me is worth it. And if you do it soon, you only reset your 30-year loan by a little bit.
What are the current rates? If you can save at least 1/2 a point, might be worth it.