If your page isn't discoverable then it will not be indexed.
by "discoverable" we mean:
- it is a standard web page, i.e. index.*
 
- it is referenced by another link either yours or from another site
 
So in your case by using the get parameter for access, you achieve 1 but not necessarily 2 since someone may reference that link and hence the "hidden" page.
You can use the robots.txt that you gave and in that case the page will not get indexed by a bot that respects that (not all will do). Not indexing your page doesn't mean of course that the "hidden" page URL will not be in the wild.
Furthermore another issue - depending on your requirements - is that you use unencrypted HTTP, that means that your "hidden" URLs and content of pages are visible to every server between your server and the user.
Apart from search engines take care that certain services are caching/resolving content when URLs are exchanged for example in Skype or Facebook messenger. In that cases they will visit the URL and try to extract metadata and  maybe cache it if applicable. Of course this scenario does not expose your URL to the public but it is exposed to the systems of those services and with them the content that you have "hidden".
UPDATE:
Another issue to consider is the exposing of a "hidden" page by linking to another page. In that case in the logs of the server that hosts the linked URL your page will be seen as a referral and thus be visible, that expands also to Google Analytics etc. Thus if you want to remain stealth do not link to another pages from the hidden page.