Usually undiscovered means by the major hotel resort chains. There are luxury resorts there but they are not part of any chains. Undiscover also means underdeveloped infastructure.

To get to PPS you need to fly domestic from MNL which means Cebu Pacific or Philair Express. From PPS to resorts is another 2-3hr drive.

The other end of Palawan is El Nido which is another great place for snorkeling/diving. It is a private flight from Manila. Driving from PPS to El Nido is not recommended as it is on very poor back roads.

Now the good part:

Yes it is worht discovering before it gets over developed. I have visited in 2006,08,12 and have seen signs of development and commercialism progressing. They are on the radar of the cruiselines as of 2013.