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The woman's friend said she and the horse were sent tumbling down the ravine after the trail suddenly gave way beneath them.
Crews requested a helicopter capable of hoisting the woman and the horse out of the deep hole.
The woman was quickly brought to safety, but a hydraulic failure with the helicopter delayed the rescue of the 1,200-pound, 15-year-old horse for several hours.
The horse was sedated and blindfolded before rescuers were able to lift it onto the side of the highway at about 6 p.m.
Crews said the horse was not seriously injured and only experienced minor cuts and scratches while the rider was taken to a hospital where she was given stitches on her leg.