Can I take my daughter out of state for a day trip?

I have a custody agreement that has been resolved. I get my daughter every other weekend and took her out of state for a few hours to visit the aquarium. The custodial parent threatened to call the police and file for emergency custody because I did not make her aware. However, in the custody agreement it does not state that I would have to let her mother know I was traveling unless I was vacationing or traveling to a foreign country. Will the mother be able to get approved for emergency custody due to my one day travel?