How Can I Go About Getting Emancipated in Florida at 16?

ok,i need to know how i can get emancipated,here is a short summed up version of my life,my mom was a stripper,thats how i was born,she didnt know who the dad was untill i was 5years old,and even after she found out who my dad was,3 years later after i was born,my mom was pregnant with my step sister and her father was who we were living with,he did coke,sold it and did it,all the time,my mom told me he used to let it lay around on the table.well when i was five my step dad(my sisters dad) thought that i deserved to know who my father was,but my mom didnt want him to be apart of my life,but i met him,eventually,then like a month after meeting him,he came by my house,gave me his bird and left me,he moved to canada to marry some lady,who didnt like me,then ended up cheating on him,so he moved to ohio,long story short,i wittnessed my mom try to kill herself aproxamatly 7 times,4 were in frount of me,one was a call,and one i saw her get carried away on a stretcher for overdosing.but before the suicidal things took place,my mom and my sisters dad got into many physical fights,so my mom and me moved out and seriously moved in with any guy she met,she moved me & her in with a guy that she knew for 3 days,in largo,so i moved with my grandma,whos a major acoholic,i literally had to pick her up off the ground every night,and my mom was being bakeracted for drugs,so one day my sisters dad came over and saw how i was living and somehow got ahold of my dad,& my dad sold everything he had to move down to florida for me,so he picked me up one day and we bought a house in hudson,i lived there for 3 years,that was the longest ive ever had a home,but he was really strict and i wasnt used to that,so we always got into fights and last valentines day i decided to move back in with my mom,so while my dad was at work,my mom drove to get me,at my school,we went back to my dads house,packed up everything i needed into trash bags,and left,i know i hurt my dad,but i was being selfish and i really regret it,so me and my mom were living with her boyfriend for almost a year,then they started getting into alot of fights,so my mom left to stay with my aunt,shes 16,& her godfather,hes 57,well my mom was trying to talk me into moving in there with them,and my aunt eventually talked me into it,so we moved in there,then about a week later my mom went to rehab,so for the whole month that my mom was gone,my aunt was making my life a living hell,so my other aunt called me saying that i needed to go live with her,she lives like 3 hours away & we never really talked,so i turned down the offer,but then my 16year old aunt made it sound like my other aunt wanted to come and get me right then and there,which wasnt the case,she just wanted to start shit,so my mom had some document signed saying i couldnt go anywhere without her approved signature,so i considered myself under house arrest,and once i turned 16,i didnt go to school,because my mom was in rehab and i just didnt care,then my mom got kicked out of rehab,so a few days before christmas my mom decided to go see her ex,well the godfather we were living with became obssessed with my mom,so he got really pissed off,and tried to shoot himself infrount of me and my aunt,it was tramatizing.so we moved out of there not too long ago,but while we were there we were pretty much spoiled,he bought my mom a nice car and everything,well one night he threatend my mom,so we moved in with my grandpas a few weeks ago,and he recently had surgery and isnt in the best condition,so in a few weeks we are moving into my moms ex boyfriends appartment complex,and i dont want to because its happend before and they just ended up getting back together,i dont want to go there because he raped me,and the only person that knows that is my boyfriend,i cant tell anyone,and i was previously raped by a 21 year old also,but it was about a year and a half ago so there wasnt much they could do a year later,so i want to,oh and i called my dad a few months ago to see if i could come back,he said he lost the house his job his car,everything,i feel like its my fault,and he told me he moved to the cayman islands but he doesnt have enought room or money to take me there with him,so i want to get emanciapted and live with one of my friends or boyfriend,but i know my mom would be completly against it,so im considering just asking her if i could move out for a little while untill things settle down,but i dont know how to ask or even aproach her with that sort of thing,help?!