What form do I need to fill out and get notarized to transfer custody from my father to my mother?

I need to transfer custody from my father's possession to my mother's. I lived in Florida up until last month when my father had me forcefully escorted to a life skills wilderness camp in Maine. I am only 17 years old which means that I cannot currently leave this place without parental istance, but I do have the right, by law, to choose which parent I would like to live with. If my mother had custody then she could withdraw me from this program which is highly unneeded, not to mention that my father dumbed my college account money to pay for this ($18,000). I am going to file the forms myself and get them notarized also. I just need to know what form it is that I need to fill out, whether there is a specific form that the child in question needs to fill out, or if I fill it out like anything else. Please try to help me out, this is urgent.