I think that it can vary greatly from woman to woman. I would definitely call your doctor and get his/her opinion but my guess would be that you are just fine. You can lost your entire mucus plug and be fine - and remember you continue making lots of mucus and cervical fluids - so I think that a lot of discharge would not be unusual (unless there is an odor to it).
I know it must be frustrating to get that far and have things stall, but on the bright side, kudos to your doctor for sending you home once it was clear that the baby wasn't quite ready. Many other doctors would have augmented labor with pitocin. Hang in there - your little one will be here very soon and when he/she is perfectly ready.