Emancipation: Want To Move Out, Without Emancipating Myself

i have been living here in AZ with my dad for about 6 years, and he is nothing but a alcoholic, and a serious jerk. I have been through way to much since i have been here, i have lived in a trailer with no heat or water in the winter. and i have had to put up with his 25 years girlfriend. even when he went to jail for a dui. he is a bad parent and i cant take it.
i really want to move out this summer right after i turn 17, but i already know that he wont do it. and i dont want to get emancipated because by the time all that stuff is done i will already be 18. plus my dad doesnt even have full custody of me, my mom does, but she is all the way in CO. so what can i do to move out, with out the police, and court stuff...is it possible for her to sign guardianship over to my best friends mom? what can i do? HELP me please.