Check AirAsia, they have flight to many places from Kota Kinabalu and cheapFlight from Manila to Palau is expensive but straight forward(3-4hrs).
Check if Cebu Pacific has cheap flight to Kota Kinabalu but you still need another flight to Tawau or a very long bus ride to Sempona. Getting the permit to dive Sipadan is another issue.
From Kota Kinabalu you can also try Layang Layang for the hammerhead.