Sadly, this is all you need to know. All the other stuff really is just background noise.
Your options are to accept it forever or divorce. Not see a counselor as you suggested. Respectfully, why would you need to see a counselor? You know to your core this is not right.
And I still maintain that it's not a good idea to have a child without fully resolving this situation to your satisfaction. What if your husband doesn't come around like you think he will? What then? Are you ready to shoulder the burden of raising a child alone in a troubled marriage, or worse, you divorce anyway, then you're a single mom?
Agree with @lucy999
. He has already told you who he is and what he would do and remember the famous quote "when someone tells you who they are, believe them the first time." do not waste any more time beating yourself up, looking for the rosy ending, he has firmly told you what you mean to him and quite frankly you are on the outside looking in.
No, he is not a good husband, a good husband leaves his mother and father and is CLEAVED to his wife not his baby's mama! Why can't you see that?
Do not have any more sex with him, no babies with him. And please stop talking about how religious you both are, that is utter nonsense, if your H had been so God-fearing he would not have stuck it to a woman he was not married to, and been 'unequally yoked' to a woman (baby's mama) who obviously has no problem in having babies with different daddies, nothing God-fearing or religious about any of this.
So stop using Jesus in this scenario, that is bordering on blasphemy and using religion as a smokescreen when you know exactly what is going on here. We are not going to tell you this is something it aint. (WWJD). You know in your gut he is doing your wrong. It is up to your alone whether you will take his crumbs or will decide to set boundaries and refuse to be treated as second best.
Go and see a lawyer and see what your options are and start to think about earning a good income again and leaving your so-called "good" H in the dust cause he NOT a good husband to you. He is a big-time cake eater.