Your dad sounds like a sociopath, (someone whos crazy but fits into society by acting normal). Believe me I had my share of those types of male figures in my life when I was young.
It sounds like you have your shit pretty well together, as someone else posted I don't feel as if you want or need pity, you seem much stronger than that. But what happened to you still deserves to be paid for in my opinion by the guys that did that shit.
If I sound a little crazy I'm sorry, but the mother of my two little girls was the victim of sexual abuse when she was very young and her father knew about it the whole time and did nothing.
, wait, no it started out talking about not penetrating minors. Thats what it was....now I remember it, vaugely.