Keep those counselors' info--not for couple's work, just for you. At this point, I think counseling would help you a great deal.
The first thing on the agenda is to find a good divorce lawyer and get the paperwork begun--and sue for physical custody of the children. Then look to finding a place to move to. If finances are a problem, check with local charities and social services agencies to find out if you can get assistance while moving and getting resettled.
Hang in there, man! I've been through a couple of divorces and can attest that it will get better. I ended up homeless with an infant during the first--and things did get better.