Divorce while he is incarcerated


I was wondering how I would go about getting a divorce while my husband is in jail. We have been seperated for about 4 to 5 years now. I just dont have the funds. There is no custody drawn up due to what he has put our daughter through. His parents can see her, but he lost his rights last time he was put in jail. I was wondering if there was a cheap way to get it done while he is in? He wants the divorce as well, but I wasnt sure if we could have it done since there is no custody arrangments made. Thanks for any assistance you can provide