An affidavit released Tuesday said Woods was alone and wearing his seat belt when Jupiter Police officers found his Mercedes early Monday in the right lane. The car's engine was running and its lights were on.
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The report says officers woke Woods, who had "extremely slow and slurred speech" and told them he took several prescriptions.
According to the report, Woods was confused and asked how far he was from his Hobe Sound home. Officers said Woods but failed a roadside sobriety test. Breath and urine tests showed no alcohol in his system.
The report lists four medications, however, including Vicodin, that Woods reported taking when he was stopped. He told officers that he was recovering from surgery.
Woods has had four back surgeries since 2014, the latest in April. Painkillers are generally prescribed after such surgeries, and many carry warnings to avoid driving while taking them. Other medicines, including over-the-counter allergy medicine or anti-anxiety medicines, can also cause drowsiness and include warnings about driving.
The report said Woods was cooperative "as much as possible" when found asleep at the wheel early Monday morning. He was "extremely sleepy" and the officer observed it was hard for Woods to keep his eyes open and hard to walk.
Woods, 41, was arrested for DUI around 3 a.m. Monday on Military Trail, just south of Indian Creek Parkway.
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He was booked at the Palm Beach County jail a few hours after his arrest and was released on his own recognizance at 9:50 a.m.
Woods' arraignment in Palm Beach County court on a DUI charge is scheduled for July 5.