My Mom always said, "God will never give you a greater burden than you can bear." Sometimes I think we are tested in life, and how we respond to that test determines your path. Yes, we made bad choices, but I think everyone does to a certain degree, especially when you are young and naive. We are human and have failings. But how you deal with the consequences of those choices is the true measure of character.
You sound like a great mom and your daughter is very lucky that God gave her to you. The important thing is to make sure she knows she is wanted and not a "mistake". I never missed an opportunity to let my son know that while my choices were wrong, I was blessed that he was given to me. I also emphasized that he should NOT follow in my footsteps, but to learn from my mistakes. I must say, he turned out awesome. He is everything that a parent could want in a child. Even in his teen years, he never gave me any grief. As an adult, he is responsible and mature. I believe our situation actually helped make him more responsible, mature and conservative.
I wish you and your daughter all the best.