I discovered, albeit with resignation, that I was still alive this morning.

Discovery is not just something done for humanity.

Is this not the same as "exploring" places people have already been before? I don't see the mutual exclusivity that you imply. Is it because one isn't seeing the source material for one's self that makes it different?

the word is used in at least two ways -- frame of reference Individual; frame of reference Society.

Charles Darwin woke up and discovered he was alive that day.