I'm smart, I wanna go to school but I'm here illegally/don't have money for school and starting to feel lost?

Me, my dad and my mom came to Cali in 2003 (from Europe) to visit my brother for 6 months. Long story short, we didn't go back and my parents started fighting. They fought for 4 years every day under the same roof until it got way too bad and I had to go to court to choose between them. I chose my dad and now everything is fine and peaceful. But what still remains is I'm here illegally and don't have much money for school. I live with my dad and brother. My dad is illegally here too. My brother isn't. I visit my mom every week and she's here illegally too. So they screwed me over. Now, my future is in jeopardy and I'm starting to feel confused/lost/worried. I always have, ever since they started fighting, but now it's at its peak. I just don't know what to do. I would like to go to a UC school or at least Cal State but I don't have the money and I'm not here legally. I don't know whether to pay the 30 bucks to take the SAT, I don't know if I should try so hard in school. I just don't know. My whole life is ****** up now because they just didn't decide to go back. Why? Why did they do this? Goddamn it, I wanna go to college or university, I have good grades, but theres this GIANT thing blocking me from it. I've worried for so long and I've been stressed for so long, it's damaging me and I don't even know what to feel. I feel so many things. Lost, confused, all the bad things. Tell me what to do. I'm 16.