Congrats, you guys are doing great!
It sounds to me like you guys need some goals. You say you have no car payment. That's great, but what's your plan for when your current car dies? Are you setting aside some money every month to replace it when it inevitably croaks?
You guys like to travel too, that's awesome. Again, make sure you're setting aside some money every month for this so that when you get the itch to travel, you don't have to borrow money to make it happen.
Now, what to do with your current $50,000? First, I would calculate how much your monthly expenses are. Then multiply by 3. That represents 3 months' expenses for you. Take that amount and stick it in a CD to improve the amount you're earning on it. That's your emergency fund.
Next, take whatever's left and make sure you're maxxing out your Roth IRA's. If there's anything left, put it against your mortgage, since it seems like that's a high priority for you. Once your mortgage is paid off, come back and we'll give you advice for what to do with the huge surplus of cash you're going to have every month.
Oh, and we'll expect to see some recent photos of Cozumel, too.