Get a lawyer. If you walked out on the marriage without taking the kids, then you did abandon them. However, that is grounds for divorce its not a criminal action unless you just left them alone. Since you left them in the care of a responsible adult you have no criminal liability and he's blowing smoke about jail.
However, since you voluntarily left without the kids, then you may have a hard time getting custody. At best I would suspect he can make a good case for physical custody.
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