What's the Call?

As far as I have ever known, a "foul tip" is when the catcher catches the ball after the has been fouled straight back. This ball is live and runners can advance.

However, you said it hit the heel of the glove and rolled to the dugout, which would make this a "foul ball" and the runners stay.

But even if the ump thought the catcher caught it and then lost control, the ball is not dead until the ump calls it such and the coach picking up the live ball kills the play and no one advances (it was the coach of the baseruners that picked the ball up I assume).