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I am sorry to read about your difficulties.
If you have an Attorney, the Attorney should be requesting for an expedited hearing in the case along with the Motion to Vacate the Order giving him full custody because you missed the hearing date because you were tending to your ill son. So, your Attorney should file Motion for Expedited hearing on the Motion to Vacate and request that the case be put back on the hearing calendar for the father's visitation; that you have not done anything to lose custody of your child; you are a good mother and working to provide for your children.