How can I expedite the divorce and determine custody at a later date?

My husband and I have been apart for just a few days more than a year now and we're still not divorced. It's been an ongoing battle of motion after motion that he's filing to try and gain full custody of our son. Neither of us contest the divorce, we both definitely want to get away from each other, he just wants what's most important to me… my child. If we can't agree on custody at this point but agree that a divorce now would be fine how, if at all, can this be done? I live in Florida if that matters.