"Hmm, my mother won't wake up and we're on I-4 in the car," says the daughter in a panicked voice on a 911 call made by the agency.
When deputies arrived, they found Smith unconscious with his 12-year-old daughter, a 7-year-old boy, a 1-year-old boy and two dogs in a minivan.
"I honestly took heroin because it hurts my back," Smith, 28, told employees.
"This is something you should take for your back?"
Smith was taken to AdventHealth Fish Memorial Hospital in stable condition. She was charged with neglect, but was not immediately detained at the Volusia County Jail pending treatment at the hospital, police said.
The children were not injured and placed under the care of their grandmother, police said in a statement. The dogs were referred to animal control officers.