Miami Marlins' Jake Burger and Wife Ashlyn Welcome Baby No. 2, Daughter Penelope: 'She Stole Pieces of My Heart' (Exclusive)

MLB's Jake Burger and his wife Ashlyn have grown their team by one more!

The Miami Marlins third baseman and first baseman, 28, have welcomed their second baby together, a daughter named Penelope, sharing the news exclusively with PEOPLE. Penelope, who was born with Down syndrome, arrived on Friday, Oct. 25 at 5:27 p.m. at Vanderbilt Hospital in Nashville, Tenn.

Weighing 6 lbs., 11 oz. and measuring 19.7 inches long, Penelope joins big brother Brooks, 23 months.

"Since I was probably 10 years old, I've been writing in a journal to my future daughter 'Dear Penelope,' " Ashlyn tells PEOPLE. "I always knew that I would name my daughter [that] if I had one [and] throughout my life I've been writing to her through all of my big moments and lessons learned."

The couple tells PEOPLE of the moment they learned of Penelope's diagnosis, saying that the news didn't faze them.

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"Our initial thought on learning about her diagnosis was simple, we just looked at each other and I had said to Ash, 'Okay, and?' " Burger says. "Life isn't meant to be easy, it's meant to be fulfilling and this is God's way of doing just that."

For Burger and Ashlyn, learning of Penelope's Down syndrome diagnosis became one of their "biggest blessings," rather than an obstacle to overcome.

“Grieving for us was not about her diagnosis, it was about how we felt that having Down syndrome shouldn’t limit anyone’s capabilities in life," they say.

"What seems as an insurmountable obstacle usually becomes one of the biggest blessings, but it’s hard to see that amidst all the ‘differents,’ how she navigates the world will be different, how she looks will be different, how her needs will be different, how we help her become the best version of herself will be different, how she makes friends will be different, all those little things you usually don’t think twice about."

"Different looks scary or daunting but that’s what makes all of us who we are. That’s when we realized God blessed us with her so that we could help others see Down syndrome the same way."

Burger shares how it felt watching Ashlyn give birth, calling her a "superhero" as she delivered naturally.

"Watching my wife Ashlyn give birth for the second time unmedicated was one of the most incredible things I’ve ever witnessed," he tells PEOPLE. "Every time we are in the delivery room, it makes me fall even deeper in love with her."

"She’s a superhero to me and our children. Childbirth is the single-handedly most incredible thing a human body can do and I’m so fortunate I get to watch and help my wife go through such an amazing process. The birth of our daughter, Penelope, gave me another chance to fall in love," Burger continues.

"Firstly with my wife, watching her go through childbirth. Secondly, because I became a girl dad and she stole pieces of my heart right when she came out of the womb. Ashlyn and I always joke that she already has me wrapped around her finger and she’s 2 weeks old!"

A few weeks into Ashlyn's pregnancy, the couple was told that Penelope would have to have life-saving surgery on her stomach directly after she was born. However, once Penelope arrived and was admitted into the NICU to prepare for surgery, doctors discovered that her stomach had healed on its own.

"That's when God intervened and performed a miracle, her stomach was healed and she no longer needed surgery," Burger says.

While they were aware of Penelope's diagnosis, the couple says they didn't expect to find such an "amazing" community of parents with kids who have special needs.

"The love and support we felt from our family and from those and the community with children that have special needs has been mind-blowing and has allowed us to feel a sense of purpose," they share. "We know our journey is just beginning with our sweet Penelope but knowing the love and support around us makes that easier."

"Our mission is to help as many families as we can as we travel through this beautiful girl and her beautiful life," Burger and Ashlyn tell PEOPLE. "God has gifted us a beautiful soul and a beautiful girl, and we can’t wait to watch her grow up and achieve everything she wants to in life."