Yes. Bring back to court to get authorization to move and for supervised visits. Explain the basis and the court will most likely grant your request. Keep a record of visitation, missed child support payments, and other behavior/incidents involving father and family to incude in your motion.
Next time the court asks a question you should ask for some time to think it over (i.e., Your Honor, can I have 10 minutes to think about that) before answering.
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I agree with my colleague's response above. To answer your question about moving out of state, I would add that this may be a good time for you to set that process in motion. The fact that Father is spending very little time with your son means that you have a rare advantage and can likely move without the father being able to block you. We recently wrote a blog article on this topic. I link it here for your convenience:
You can try.
My name is Stephen R. Cohen and I have practiced over 38 years and can be reached at 213-819-1171. I practiced mainly in Los Angeles and Orange County, California. I am not seeking clients from existing relationships with other attorneys, and give only limited advise over the phone (the phone is primarily used to set appointments), these services do not create an attorney client relationship. I apologize for mispelling< as I am a lousy typist, My answers may offend as I do not believe in pulling punches or sugar coating the truth. Further regarding courts in other states my opinions are largely based on logic and what I think is the modern trend which is to consider the needs of the child.