looks like a decreasing radius, off camber turn? if so, those have caught many people off guard, so don't feel bad. still, crashing sucks and glad to hear you made it out relatively unscathed. ATGATT
hindsight is 20-20, but it really sounds like you were riding too fast for the situation and your experience level. slow down
before the turn.
as Oscar already pointed out, perhaps a track day would help to get you familiar with exactly what your bike is capable of. skills learned there translate extremely well to the street.
if not, at a a minimum, I highly recommend you pick up a few good books on street riding skills. David Hough's "Proficient Motorcycling" and "More Proficient Motorcycling" are excellent reads.
http://www.webbikeworld.com/books/pr...torcycling.htm
have fun, ride safe