Guilt is not what you're feeling. That word implies that you've done something immoral or illegal such as stealing, telling lies, or spreading vicious gossip. You've done nothing of the sort.
In fact, by writing “bad things happened,” you suggest that your dad's place was not a healthy and safe environment for you. If that's the case, then he should feel guilty for not taking the necessary steps to secure proper conditions for you. As an adult and parent, that was his responsibility.
So, if you're not feeling guilty, what are you feeling? I imagine that you're sad and disappointed. You feel bad because your father isn't the loving, protective, and dependable daddy that a girl dreams of having. You feel distressed that he didn't make more of an effort to safeguard the precious time he had with you. You wish things could be different.
Open up to your mom about your feelings. Perhaps, she knows some ways you can bond with your dad without actually staying at his place and being under his care. Perhaps, she can help you set up a time each day to Skype with him.
We're fortunate now to have many ways to keep in touch: texting, emailing, phoning, and engaging in social media.