The Sycamores (5-6, 3-5 Missouri Valley Conference) trailed 24-21 late in the fourth quarter when Heidorn kicked a 25-yard field goal to even the score, 24-24 with 5:04 to play. On the team's next possession, quarterback Matt Adam took the team 35 yards in 11 plays and, with no time remaining, Heidorn made a 38-yard attempt for the win.
Indiana State trailed 14-7 at the end of the first quarter but a pair of touchdown runs by Adam - from 14 and 74 yards - evened it up at 21 at halftime.
Adam ran for 110 yards for the Sycamores. Roland Genesy had 91 yards on 22 carries.
Jody Webb scored three times for the Penguins (5-6, 3-5) on two 93-yard kickoff returns and on a 26-yard run.