Separation or Divorce?

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We've been married for 17 years, and we have three kids. Our problem started when he began working abroad. His first contract was 3 years and that was the hardest part of my life. Since I marry him, I never remembered even once that I did not worry about him being with another woman. He always has someone which I usually found out later. That was the first issue then his family came into the picture and money was involved. I was accused of having a lover and spending it. But since I know is isn't true, I never bother to argue them. I tried everything to keep my family.In 2012, we migrated to Canada but my husband remained. So, I sponsored him and he cameto Canada on July this year. I just found out that he already has another woman whom he lived in our own home and she was pregnant. I was furious because I was really hoping and praying for years t have a happy family. In front of the kids he chose his mistress. He threatened me that whatever happened to his mistress, he will kill me. He was charged and pleaded guilty because of this. He is now out of jail ut continued to tell lies about me. I am just confused if I should file a separation case or divorce when I file child custosy, support and access. Anybody knows what's the difference? Thank you.