You could use a voltage sensing relay and power relay to do what you want to do.
Macromatic makes a good line of specialty relays
Here's a
Voltage Sensing Relay that would work. Add to that a good heavy duty power contactor like these
Trombetta Relays and you could drop the AGM bank out of the circuit.
You'll have to test the setup to make sure you don't get a bounce when you disconnect or reconnect the AGM's from the circuit, so that the sensing relay doesn't short-cycle in and out. That's not likely to happen, but not knowing the relative sizes of your banks, it's best to test it.