No, it is not too late for you to manage you account online with the IRS. You can set up your Installment Agreement at Apply Online for a Payment Plan.
You will be able to see the amount and manage your balance due. There is a setup fee for an Installment Agreement.
It is up to you how much you pay each month until the balance paid off as long as you will have the balance paid off in 72 months.
Yes the IRS does continue to add interest and penalties until the balance is paid off.
If you have any questions you can call the IRS at 1-800-829-1040.
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