Parents often bristle at the mere mention of child custody and end up bracing themselves for a bitter, ugly dispute where one person "wins" and the other "loses." However, your case does not have to be this way. There are so many ways to approach custody and parenting that there is very likely a solution that allows you -- and more importantly, your kids -- to feel comfortable with a parenting plan.
Let's imagine a scale. On one end of the scale is the extremely amicable split, and on the other end is an extremely contentious split. There is going to be a different solution for custody at both the extremes and everything in the middle.