Denethor pretty much viewed Faramir as less worthy than Boromir. When he said that line, he didn't mean that he wished he had sent Faramir in the first place, but simply that Boromir, his favorite son, had lived and Faramir, the lesser, had died. Although both brothers held great love for Minas Tirith and Gondor, Boromir was more of the warrior type, while Faramir strikes me as a bit more scholarly.
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