You should file I-751 with divorce waiver two weeks prior to the expiration date on your card. Use USPS express - that way your package will be tracked and if there is any problem with petition you will still have time to re-file.
You should write a cover letter, in which you will summarize your relationship and declare that since you are in the middle of divorce, you can not provide divorce decree yet. You should include a nice thick collection of documents to prove co-habitation, co-mingling of finances and social life... and your baby's birth certificate, of course.
You do not need a lawyer for this.
USCIS will accept your petition, extend your status for a year and request that you send them divorce decree. By the time they come around to asking, you will hopefully have the decree on hand. They give you a couple of months to respond to RFE.
If you do not file on time, you will be out of status and removal proceedings will be initiated.
Regarding divorce, if you trust your husband to be fare, you can just let him handle it and pay for it.
If you do not trust him, get the best lawyer you can find. If he is good, he may be able to make your husband pay his lawyer fees anyway