How to get an Emergency Custody Order

The Mom & Dad are currently married. The Mom has lived with her boyfriend since Jan. The kids, ages 1 & 3, have visited their Mom a few times, & came back bruised & totally traumatized. The Dad is in the Navy in FL & sees them twice a month, the kids have lived with the Grandparents in GA since Jan. The Mom gave birth to the 1 yr old addicted to narcotics, he was detoxed in the hospital for 10 days. She is now getting out of Rehab for the 4th time (alcohol, Xanex, Meth) & wants money (for drugs) & the kids. The Mom's Mother is totally against her having the kids as well. Mom just found out her boyfriend knowingly gave her HIV & the police have been called to their home on several occasions. The TV, glass table, & stove are smashed, doors off the hinges, etc. The 3 yr old has said/done things of a sexual nature that I have found deeply disturbing, but I have no proof of this beyond her word & an infection. Please tell me if I can get an emergency order to protect these children.