Given your financial situation, I would say to check with your local legal aid. They recently helped me settle a custody situation with my ex. All I have to pay is half the court costs. I looked for a link to post, but each state/area seems to have their own website and phone number. Just google "legal aid" and a zip code or state and you should hit on the right place.
The application process was pretty easy, just a few simple questions about income, etc. I was extremely happy with my representation. Navigating the family court system in Iowa basically requires an attorney, and I was very fortunate to get the help I did.