You should speak to an attorney familiar with both Florida law (where you live now) and NY law. Bankruptcy might be an option, but since the tax and penalty is for an unfiled tax return, the debt may be non-dischargeable. Your best bet may be to negotiate with NY to make a payment plan to pay off the taxes. Please contact a local attorney to help you figure out your options.
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I'm not licensed to practice in New York, but I would advise placing a call to the Department of Revenue to see if you could potentially file your original 2006 return as opposed to a balance they have assessed you in hopes of lowering the bill.