I recently filed for divorce but would like to move to florida to be closer to my dad, can I legally just take my daughter with me without the consent of the mother, my soon to be ex wife?
Don't do that. You may expose yourself to serious legal ramifications if you removed your daughter to another state and changed your permanent residence. You need to secure the consent of your wife and present a motion unto the Court to obtain secure an order before you move out of state.
If you remove your daughter without a court order, I would expect that you would need to speak to a criminal defense atty.