Can't you just stay in undergrad an extra year, or at least an extra semester? These SMP's seem like kind of scam to me, money-wise, and UW Madison is a good school. Getting a string of A and A- grades there I would think would be equally as helpful as doing some SMP thing. The B in neurobiology isn't that bad. The D's you will definitely have some explaining to do.
The MCAT score is quite low for MD schools. However, it was only your first try. With that score, I would consider taking a prep course like Princeton Review. Some people also like Kaplan, but I preferred Princeton Review because they had more class time and more personal attention. However, it does cost money, and I realize that now more people just study by themselves or online, so you have to do what you think will work best for you. With the lower GPA you are going to have, it would really help to have an MCAT score in the 30's, which would be a significant jump from what you have.
You need to show that you can do the work of med school, academically speaking, and having such a big grade drop in the face of whatever personal difficulties is a big red flag. The thing is, stressful life circumstances and even tragedies can happen and likely will happen again @some point during your med school, resident or life as a practicing physician. The adcom has to have reasonable expectations that you'll be able to function as a doctor even under stress. This is a big part of the reason why I bet they care so much about things like academic consistency.